@inproceedings{bertoli,
  author = {P. Bertoli and A. Cimatti and M. Roveri},
  title = {Conditional Planning under Partial Observability as Heuristic-Symbolic Search in Belief Space},
  booktitle = {ECP-01. Sixth European Conference on Planning, Toledo, Spain},
  year = {2001},
  pages = {379-384}
}