[PLK+15] Jaime Pulido Fentanes, Bruno Lacerda, Tomas Krajnik, Nick Hawes and Marc Hanheide. Now or later? Predicting and Maximising Success of Navigation Actions from Long-Term Experience. In Proc. 2015 IEEE International Conference on Robotics and Automation (ICRA'14). 2015. [Proposes novel approaches to predicting changes in a robot's environment, applied to a probabilistic planning framework using PRISM as an underlying solver.]