Amato, Christopher, Blai Bonet, and Shlomo Zilberstein. 2010. “Finite-State Controllers Based on Mealy Machines for Centralized and Decentralized POMDPs”. Proceedings of the AAAI Conference on Artificial Intelligence 24 (1):1052-58. https://doi.org/10.1609/aaai.v24i1.7748.