@article{Freitas:2004,
  title = "Diagnosis by a waiter and a Mars explorer",
  author = "de Freitas, N. and Dearden, R. and Hutter, Frank and Morales-Menendez, R. and Mutch, J. and Poole, D.",
  year = "2004",
  issn = "0018-9219",
  journal = "Proceedings of the IEEE",
  number = "3",
  pages = "455--468",
  url = "http://www.cs.ubc.ca/~nando/papers/rbpf.pdf",
  volume = "92",
  doi = "10.1109/JPROC.2003.823157",
}