I. Introduction
Solving a decision making problem is the essence of any intelligent autonomous agent. The objective of this optimization problem is finding the most beneficial action, in relation to some measure, or a revenue function. Robots which are set in the real world are often required to account for its uncertainty when making decisions, in order to provide reliable and robust results. There are multiple possible sources for this uncertainty, e.g. a dynamic environment in which unpredictable events might occur; Noisy or limited observations, such as a limited camera range and an inaccurate GPS signal; and inaccurate delivery of actions.