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This is the ROS code for the sigma approximation experiments.

If you use this code, then please cite our PlanRob 2017 paper:

Wray, Kyle H. and Zilberstein, Shlomo. “Approximating Reachable Belief Points in POMDPs with Applications to Robotic Navigation and Localization.” In Proceedings of the 2017 ICAPS Workshop on Planning and Robotics (PlanRob), Pittsburgh, PA, USA, June 2017.