@inproceedings{agha-firm-icra2014,
  title={Robust online belief space planning in changing environments: Application to physical mobile robots},
  author={Agha-mohammadi, Ali-akbar and Agarwal, Saurav and Mahadevan, Aditya and Chakravorty, Suman and Tomkins, Daniel and Denny, Jory and Amato, N},
  booktitle={Robotics and Automation (ICRA), 2014 IEEE International Conference on},
  pages={149--156},
  year={2014},
  organization={IEEE}
}