Robert P. Goldman Michael J. S. Pelican David J. Musliner Guiding Planner Backjumping Using Verifier Traces. 279-286 2004 conf/aips/2004 ICAPS db/conf/aips/icaps2004.html#GoldmanPM04 http://www.aaai.org/Library/ICAPS/2004/icaps04-034.php