n between states are unimportant, only the existence of a transition. We omit here the precise details of the precomputation algorithms to determine sets Sno , Syes . See, for example, Section 4.1 of =-=[16]-=- for an explanation. Value iteration. for the remaining states s ? S ? is to use value iteration, an iterative numerical method which can approximate the values up to some desired accuracy. In practic