@article{probabilisticrelationalplanningwithfirst,
  title = {Probabilistic Relational Planning with First Order Decision Diagrams},
  author = {Saket Joshi and Roni Khardon},
  year = {2014},
  eprint = {1401.3882},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1401.3882v1},
}