Real-Time Decision Making with State-Value Function under Uncertainty of State Estimation - Evaluation with Local Maxima and Discontinuity. - Ryuichi Ueda; Tamio Arai; Kohei Sakamoto; Yoshiaki Jitsukawa; Kazunori Umeda; Hisashi Osumi; Toshifumi Kikuchi; Masaki Komura (ICRA, 2005)