Nilufer Onder Martha E. Pollack Conditional, Probabilistic Planning: A Unifying Algorithm and Effective Search Control Mechanisms. 577-584 1999 conf/aaai/1999 AAAI/IAAI db/conf/aaai/aaai99.html#OnderP99 http://www.aaai.org/Library/AAAI/1999/aaai99-082.php