Kappen, Hilbert, Vicenç Gomez, and Manfred Opper. “Optimal Control As a Graphical Model Inference Problem”. Proceedings of the International Conference on Automated Planning and Scheduling 23, no. 1 (June 2, 2013): 472–473. Accessed May 26, 2026. https://ojs.aaai.org/index.php/ICAPS/article/view/13573.