@article{efficienthierarchicalrobotmotionplanning,
  title = {Efficient Hierarchical Robot Motion Planning Under Uncertainty and Hybrid Dynamics},
  author = {Ajinkya Jain and Scott Niekum},
  year = {2018},
  eprint = {1802.04205},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1802.04205v4},
}