diff --git a/tikz/pomdp/Makefile b/tikz/pomdp/Makefile
new file mode 100644
index 0000000..1a127ac
--- /dev/null
+++ b/tikz/pomdp/Makefile
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+SOURCE = pomdp
+DELAY = 80
+DENSITY = 300
+WIDTH = 512
+
+make:
+	pdflatex $(SOURCE).tex -output-format=pdf
+	make clean
+
+clean:
+	rm -rf  $(TARGET) *.class *.html *.log *.aux *.data *.gnuplot
+
+gif:
+	pdfcrop $(SOURCE).pdf
+	convert -verbose -delay $(DELAY) -loop 0 -density $(DENSITY) $(SOURCE)-crop.pdf $(SOURCE).gif
+	make clean
+
+png:
+	make
+	make svg
+	inkscape $(SOURCE).svg -w $(WIDTH) --export-png=$(SOURCE).png
+
+transparentGif:
+	convert $(SOURCE).pdf -transparent white result.gif
+	make clean
+
+svg:
+	#inkscape $(SOURCE).pdf --export-plain-svg=$(SOURCE).svg
+	pdf2svg $(SOURCE).pdf $(SOURCE).svg
+	# Necessary, as pdf2svg does not always create valid svgs:
+	inkscape $(SOURCE).svg --export-width=$(WIDTH) --export-plain-svg=$(SOURCE)1.svg
+	rsvg-convert -a -w 720 -f svg $(SOURCE)1.svg -o $(SOURCE).svg
+	rm $(SOURCE)1.svg
diff --git a/tikz/pomdp/README.md b/tikz/pomdp/README.md
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--- /dev/null
+++ b/tikz/pomdp/README.md
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+Compiled example
+----------------
+![Example](pomdp.png)
diff --git a/tikz/pomdp/pomdp.png b/tikz/pomdp/pomdp.png
new file mode 100644
index 0000000..2ee14ff
Binary files /dev/null and b/tikz/pomdp/pomdp.png differ
diff --git a/tikz/pomdp/pomdp.tex b/tikz/pomdp/pomdp.tex
new file mode 100644
index 0000000..891e381
--- /dev/null
+++ b/tikz/pomdp/pomdp.tex
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+\documentclass[varwidth=true, border=2pt]{standalone}
+
+\usepackage{tikz}
+\usetikzlibrary{shapes,snakes,shapes.geometric,positioning}
+
+\begin{document}
+\begin{tikzpicture}[node distance=2cm]
+    \node[ellipse,draw,minimum width=80pt,minimum height=20pt,fill=gray!5] (a) {Agent};
+    \node[ellipse,draw,minimum width=80pt,minimum height=20pt,fill=gray!5,below of=a] (u) {Umwelt};
+
+    % Arrows
+    \draw[bend left,->,very thick] (a.east) to node [auto] {Aktion $a_k$} (u.east);
+    \draw[bend left,->,very thick] (u.west) to node [auto] {Beobachtung $z_k$} (a.west);
+\end{tikzpicture}
+\end{document}