Uzi Zahavi Ariel Felner Jonathan Schaeffer Nathan R. Sturtevant 1211-1216 2007 conf/aaai/2007 AAAI db/conf/aaai/aaai2007.html#ZahaviFSS07 http://www.aaai.org/Library/AAAI/2007/aaai07-192.php