# Planning using hierarchical constrained Markov decision processes

> Research article (Autonomous Robots, 2017) · cited 10× · AI/ML

**Wikidata**: [openalex:W2606818146](https://www.wikidata.org/wiki/openalex:W2606818146)  
**Source**: https://4ort.xyz/entity/planning-using-hierarchical-constrained-markov-decision-processes