Online Planning for Constrained POMDPs with Continuous Spaces through . . . Abstract Rather than augmenting rewards with penalties for undesired behavior, Constrained Partially Observable Markov Decision Processes (CPOMDPs) plan safely by imposing inviolable hard constraint value budgets Previous work performing on-line planning for CPOMDPs has only been applied to discrete action and observation spaces In this work, we propose al-gorithms for online CPOMDP planning