Khen Elimelech Vadim Indelman Fast Action Elimination for Efficient Decision Making and Belief Space Planning Using Bounded Approximations. 843-858 2017 ISRR https://doi.org/10.1007/978-3-030-28619-4_58 conf/isrr/2017 db/conf/isrr/isrr2017.html#ElimelechI17