@article{CaHaMu18,
  author={H. Carlos-Martinez and J.-B. Hayet and R. Murrieta-Cid},
  title={An Analysis of Policies from Stochastic Linear
 Quadratic Gaussian in Robotics Problems with State- and
 Control-Dependent Noise},
  journal={Journal of Intelligent and Robotic Systems},
  month={September},
  pages={85-106},
  volume=92,
  number=1,
  year={2018}}