@article{sparsetreesearchoptimalityguaranteesin,
  title = {Sparse tree search optimality guarantees in POMDPs with continuous observation spaces},
  author = {Michael H. Lim and Claire J. Tomlin and Zachary N. Sunberg},
  year = {2019},
  eprint = {1910.04332},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1910.04332v4},
}