F. Bengio, P. Bengio, and . Frasconi, An input/output HMM architecture, Advances in Neural Information Processing Systems 7, pp.427-434, 1995.

. Bessì-ere, Cédric Pradalier, and Anne Spalanzani. Survey: Probabilistic methodology and techniques for artefact conception and development, 2003.

. Boutilier, Decision theoretic planning: Structural assumptions and computational leverage Mixtures of controllers for jump linear and non-linear plants, Cacciatore and Nowlan Advances in Neural Information Processing Systems, pp.1-94, 1994.

M. Franz, H. Franz, and . Mallothauskrecht, Biomimetic robot navigation, Proceedings of the 14th Conference on Uncertainty in Artificial Intelligence (UAI-98), pp.133-153, 1998.
DOI : 10.1016/S0921-8890(99)00069-X

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.116.1839

. Kaelbling, Planning and acting in partially observable stochastic domains, Artificial Intelligence, vol.101, issue.1-2, pp.99-134, 1998.
DOI : 10.1016/S0004-3702(98)00023-X

J. Benjamin and . Kuipers, The spatial semantic hierarchy Terran Lane and Leslie Pack Kaelbling Toward hierarchical decomposition for planning in uncertain environments Nearly deterministic abstractions of markov decision processes, Lane and Kaelbling Proceedings of the 2001 IJCAI Workshop on Planning under Uncertainty and Incomplete Information Eighteenth National Conference on Artificial Intelligence (AAAI-2002), pp.191-233, 2000.

. Lebeltel, Olivier Lebeltel, PierreBessì ere, Julien Diard, and Emmanuel Mazer. Bayesian robot programming, Autonomous Robots, 2003.

. Leonard, Dynamic Map Building for an Autonomous Mobile Robot, Dynamic Bayesian Networks : Representation, Inference and Learning, pp.286-298, 1992.
DOI : 10.1177/027836499201100402

T. Pineau, S. Pineau, and . Thrun, An integrated approach to hierarchy and abstraction for POMDPs, 2002.

J. Rabiner, R. Lawrence, B. Rabiner, and . Juang, Fundamentals of Speech Recognition, chapter Theory and implementation of Hidden Markov Models, pp.321-389, 1993.

G. Roweis, A Unifying Review of Linear Gaussian Models, Neural Computation, vol.45, issue.3, pp.305-345, 1999.
DOI : 10.1109/TIT.1967.1054010

. Smyth, Probabilistic Independence Networks for Hidden Markov Probability Models, Neural Computation, vol.1994, issue.2, pp.227-269, 1997.
DOI : 10.1016/0262-8856(94)90010-8

URL : http://authors.library.caltech.edu/13671/1/SMYnc97.pdf

. Sebastian-thrun, Learning metric-topological maps for indoor mobile robot navigation, Artificial Intelligence, vol.99, issue.1, pp.21-71, 1998.
DOI : 10.1016/S0004-3702(97)00078-7

. Sebastian-thrun-]-sebastian-thrun, Probabilistic algorithms in robotics Robotic mapping : A survey, pp.93-109, 2000.

. Tomatis, A hybrid approach for robust and precise mobile robot navigation with compact environment modeling Biologically-based artificial navigation systems : Review and prospects, Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA'01), pp.1111-1116483, 1997.