@article{generalpurposeincrementalcovarianceupdat,
  title = {General Purpose Incremental Covariance Update and Efficient Belief Space Planning via Factor-Graph Propagation Action Tree},
  author = {Dmitry Kopitkov and Vadim Indelman},
  year = {2019},
  eprint = {1906.02249},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1906.02249v1},
}