@MASTERSTHESIS{Charlin06,
	author = "L. Charlin",
	title = "Automated Hierarchy Discovery for Planning in Partially Observable Domains", 
	school = "University of Waterloo", 
	year = "2006" }

@techreport{MINLPBB,
        author = "S. Leyffer", 
	title ="User manual for MINLP\_BB",
	institution = "University of Dundee, Numerical. Analysis Report",
	number = "NA/XXX", 
	year = "1999"
	}


@article{Balas:ADM79,
		author = {E. Balas},
		title = {Disjunctive programming},
		journal = {Annals of Discrete Mathematics}, 
		volume = {5},
		pages = {3--51},
		year = {1979}}
			

@article{gill-murray-saunders:siam05,
	 author = {P. Gill and W. Murray and M. Saunders},
	  title = "{SNOPT}: An {SQP} Algorithm for Large-Scale   Constrained Optimization",
	   journal = {SIAM Review},
	    volume = {47},
	     number = {1},
	      year = {2005},
	        pages = {99--131},
		    }

@inproceedings{ braziunas-boutilier:aaai04,
	author = "D. Braziunas and C. Boutilier",
	title = "Stochastic Local Search for {POMDP} Controllers",   
	booktitle = "AAAI",
	pages = "690--696",
	year = "2004",
	url = "citeseer.ist.psu.edu/braziunas04stochastic.html" }

@inproceedings{meuleau-peshkin-kim-kaelbling:uai99,
	    author = "N. Meuleau and L. Peshkin and K.-E. Kim and L. Kaelbling",
	        title = "Learning Finite-State Controllers for Partially Observable Environments",
		    pages = "427--436",
		    year = "1999",
		    booktitle = "UAI",
		        url = "citeseer.ist.psu.edu/article/meuleau99learning.html" }

@inproceedings{meuleau-kim-kaelbling-cassandra:uai99,
	    author = "N. Meuleau and K.-E. Kim and L. Kaelbling and A. Cassandra",
	        title = "Solving {POMDPs} by Searching the Space of Finite Policies",
		    pages = "417--426",
		    year = "1999",
		    booktitle = "UAI"}

@inproceedings{amato07, 
        title ="Solving {POMDPs} Using Quadratically Constrained Linear Programs", 
	        author ="C. Amato and D. Bernstein and S. Zilberstein",
		        booktitle = "To appear In International Joint Conferences on Artificial Intelligence (IJCAI)", 
			        year = "2007"
				}

@inproceedings{amato-bernstein-zilberstein:aima06,
	title= "Solving {POMDPs} Using Quadratically Constrained Linear Programs",
	author = "C. Amato and D. Bernstein and S. Zilberstein",
	booktitle = "AI and Math", 
	year = "2006" 
}

@Phdthesis{Poupart05,
	Author={Pascal Poupart},
	Title="Exploiting Structure to efficiently solve large scale partially observable {Markov} decision processes",
	School={University of Toronto},
	Year={2005}
}


%@inproceedings{citeulike:143527,
abstract = {We develop a hierarchical approach to planning for partially
			 observable Markov decision processes (POMDPs) in which a policy is represented 
				 as a hierarchical finite-state controller.},
author = {E. Hansen  and R. Zhou},
citeulike-article-id = {143527},
comment = {Like MAXQ for FSCs and POMDPs.  Learns recursively optimal hi
						erarchies of finite state controllers given full knowledge of the environment an
							d a predefined task hierarchy.},
booktitle = {ICAPS},
title = {Synthesis of Hierarchical Finite-State Controllers for POMDPs},
url = {http://citeseer.ist.psu.edu/600233.html},
year = {2003}
}


@inproceedings{ hansen98improved,
author = "E. Hansen",
title = "An Improved Policy Iteration Algorithm for Partially Observable {MDP}s",
booktitle = "NIPS",
year = "1998",
url = "citeseer.ist.psu.edu/hansen97improved.html" }

@article{ Sondik78, 
	author = "E. Sondik", 
	title = "The optimal control of partially observable decision processes over the infinite horizon: Discounted cost",
	journal = "Operations Research", 
	volume ="26",
	number = "2",
	pages = "282--304", 
	year = "1978"
}


@inproceedings{ poupart03bounded,
	author = "P. Poupart and C. Boutilier",
	title = "Bounded finite state controllers",
	booktitle = "NIPS",
	year = "2003",
	url = "citeseer.ist.psu.edu/poupart03bounded.html" 
}
					      
@inproceedings{DBLP:conf/aips/HansenZ03,
  author    = {E. Hansen and R. Zhou},
title     = "Synthesis of Hierarchical Finite-State Controllers for {POMDPs}",
booktitle = {ICAPS},
year      = {2003},
pages     = {113-122},
crossref  = {DBLP:conf/aips/2003},
bibsource = {DBLP, http://dblp.uni-trier.de}
}

@proceedings{DBLP:conf/aips/2003,
editor    = {E. Giunchiglia and
N. Muscettola and
D. Nau},
title     = {Proceedings of the Thirteenth International Conference on
Automated Planning and Scheduling (ICAPS 2003), June 9-13,
2003, Trento, Italy},
booktitle = {ICAPS},
publisher = {AAAI},
year      = {2003},
isbn      = {1-57735-187-8},
bibsource = {DBLP, http://dblp.uni-trier.de}
}

@article{280145,
	 author = {L. Kaelbling and M. Littman and A. Cassandra},
	  title = {Planning and acting in partially observable stochastic domains},
	   journal = {Artificial Intelligence},
	    volume = {101},
	     number = {1-2},
	      year = {1998},
	        pages = {99--134}
}

@inproceedings{DBLP:conf/icml/GhavamzadehM03,
	  author    = {M. Ghavamzadeh and
		                 S. Mahadevan},
	    title     = {Hierarchical Policy Gradient Algorithms.},
	      booktitle = {ICML},
	        year      = {2003},
		  pages     = {226-233},
		    crossref  = {DBLP:conf/icml/2003},
		      bibsource = {DBLP, http://dblp.uni-trier.de}
}

@proceedings{DBLP:conf/icml/2003,
	  editor    = {T. Fawcett and
		                 N. Mishra},
	    title     = {ICML},
	      publisher = {AAAI Press},
	        year      = {2003},
		    bibsource = {DBLP, http://dblp.uni-trier.de}
}


@inproceedings{DBLP:conf/icml/Dietterich98,
	  author    = {T. Dietterich},
	    title     = "The {MAXQ} Method for Hierarchical Reinforcement Learning",
	      booktitle = {ICML},
	        year      = {1998},
		  pages     = {118-126},
		    crossref  = {DBLP:conf/icml/1998},
		      bibsource = {DBLP, http://dblp.uni-trier.de}
}

@proceedings{DBLP:conf/icml/1998,
	  editor    = {Jude W. Shavlik},
	    title     = {Proceedings of the Fifteenth International Conference on
		                   Machine Learning (ICML 1998), Madison, Wisconson, USA, July
					                  24-27, 1998},
	      booktitle = {ICML},
	        publisher = {Morgan Kaufmann},
		  year      = {1998},
		    isbn      = {1-55860-556-8},
		      bibsource = {DBLP, http://dblp.uni-trier.de}
}



@phdthesis{ parr98hierarchical,
	  author = "R. Parr",
	    title = "Hierarchical Control and learning for {Markov} decision processes",
	      text = "Parr, R. (1998). Hierarchical Control and learning for Markov decision
		          processes. PhD thesis, University of California at Berkeley.",
	        year = "1998",
		school = "University of California at Berkeley",
		  url = "citeseer.ist.psu.edu/parr98hierarchical.html" }

@inproceedings{Pineau_2001_4830,
	   author = "J. Pineau and N. Roy and S. Thrun",
	      title = "A Hierarchical Approach to {POMDP} Planning and Execution",
	         booktitle = "Workshop on Hierarchy and Memory in Reinforcement Learning (ICML)",
		       year = "2001"
}

@phdthesis{Pineau_2004_4767,
	   author = "J. Pineau",
	      title = "Tractable Planning Under Uncertainty: Exploiting Structure",
	         school = "Robotics Institute, Carnegie Mellon University",
		       year = "2004"
}

@phdthesis{cassandra:phd98,
	   author = "A. Cassandra",
	      title = "Exact and approximate algorithms for partially observable {Markov} decision processes",
	         school = "Brown University, Dept. of Computer Science",
		       year = "1998"
}

@techreport{MIT-CSAIL-TR-2005-058,
	  author =         {G. Theocharous and S. Mahadevan and L. Kaelbling},
	    title =          "Spatial and Temporal Abstractions in {POMDPs} Applied to Robot Navigation",
	      institution =    {Computer Science and Artificial Intelligence Laboratory, MIT},
	        number =         {MIT-CSAIL-TR-2005-058},
		    year =           {2005}
}

@article{DBLP:journals/jair/Dietterich00,
  author    = {T. Dietterich},
  title     = "Hierarchical Reinforcement Learning with the {MAXQ} Value
               Function Decomposition",
  journal   = {JAIR},
  volume    = {13},
  year      = {2000},
  pages     = {227-303},
  ee        = {http://www.cs.washington.edu/research/jair/abstracts/dietterich00a.html},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@article{DBLP:journals/ai/SuttonPS99,
  author    = {R. Sutton and
               D. Precup and
               S. Singh},
  title     = "Between {MDPs} and {Semi-MDPs}: A Framework for Temporal Abstraction
               in Reinforcement Learning",
  journal   = {Artificial Intelligence},
  volume    = {112},
  number    = {1-2},
  year      = {1999},
  pages     = {181-211},
  ee        = {http://dx.doi.org/10.1016/S0004-3702(99)00052-1},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@inproceedings{DBLP:conf/uai/PineauGT03,
  author    = {J. Pineau and
               G. Gordon and
               S. Thrun},
  title     = {Policy-contingent abstraction for robust robot control.},
  booktitle = {UAI},
  year      = {2003},
  pages     = {477-484},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@inproceedings{DBLP:conf/nips/ThrunS94,
  author    = {S. Thrun and
               A. Schwartz},
  title     = {Finding Structure in Reinforcement Learning.},
  booktitle = {NIPS},
  year      = {1994},
  pages     = {385-392},
  ee        = {http://nips.djvuzone.org/djvu/nips07/0385.djvu},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@inproceedings{DBLP:conf/icml/Hengst02,
  author    = {B. Hengst},
  title     = "Discovering Hierarchy in Reinforcement Learning with {HEXQ}",
  booktitle = {ICML},
  year      = {2002},
  pages     = {243-250},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@inproceedings{DBLP:conf/icml/Ryan02,
  author    = {M. Ryan},
  title     = {Using Abstract Models of Behaviours to Automatically Generate
               Reinforcement Learning Hierarchies.},
  booktitle = {ICML},
  year      = {2002},
  pages     = {522-529},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@inproceedings{DBLP:conf/icml/McGovernB01,
  author    = {A. McGovern and
               A. Barto},
  title     = {Automatic Discovery of Subgoals in Reinforcement Learning
               using Diverse Density.},
  booktitle = {ICML},
  year      = {2001},
  pages     = {361-368},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@inproceedings{williams-young:aaai06,
  author    = {J. Williams and S. Youngs},
  title     = "Scaling {POMDPs} for dialogue management with composite summary point-based value iteration {(CSPBVI)}",
  booktitle = {AAAI workshop on Statistical and Empirical Methods in Spoken Dialogue Systems},
  year      = {2006}
}

Jason D. Williams and Steve Young. 2006. Scaling POMDPs for dialog management with composite summary point-based value iteration (CSPBVI). To appear, Proc AAAI Workshop on statistical and empirical methods in spoken dialog systems, Boston, USA.
