@inbook{6672,
  title = {Expectation-Maximization methods for solving (PO)MDPs and optimal control problems},
  booktitle = {Inference and Learning in Dynamic Models},
  editors = {Barber, D., Cemgil, A.T. and Chiappa, S.},
  publisher = {Cambridge University Press},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  address = {Cambridge, UK},
  month = jan,
  year = {2012},
  author = {Toussaint, M. and Storkey, A. and Harmeling, S.},
  month_numeric = {1}
}