This case study concerns a grid-world robot from [LCK95].

This is a POMDP model, described in [NPZ17].

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[LCK95]
M. Littman, A. Cassandra and L. Kaelbling
Learning policies for partially observable environments: Scaling up.
Tech. Rep. CS-95-11, Department of Computer Science, Brown University, 1995

[NPZ17]
Gethin Norman, David Parker and Xueyi Zou
Verification and Control of Partially Observable Probabilistic Systems
Real-Time Systems, 53(3), pages 354-402, Springer, 2017