@article{b3rtdpabeliefbranchandboundrealtime,
  title = {B$^3$RTDP: A Belief Branch and Bound Real-Time Dynamic Programming Approach to Solving POMDPs},
  author = {Sigurdur Orn Adalgeirsson and Cynthia Breazeal},
  year = {2022},
  eprint = {2210.12556},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2210.12556v1},
}