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ET has learned that Robert F. Kennedy Jr.'s estranged wife Mary Richardson Kennedy has died. She was 52.

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Police confirm to ET that they found a deceased individual in Bedford, New York this afternoon. This individual is believed to be Mary Kennedy.

Mary's family confirmed her passing, releasing this statement: "We deeply regret the death of our beloved sister Mary, whose radiant and creative spirit will be sorely missed by those who loved her. Our heart goes out to her children who she loved without reservation. We have no further comment at this time."

Kennedy Jr., the son of former Sen. Robert Kennedy and the nephew of President John F. Kennedy, filed for divorce in 2010 after 16 years of marriage. The couple has four children together.

According to People.com, Mary was arrested for driving while intoxicated three days following the divorce filing.