Hisashi Hayashi Seiji Tokura Tetsuo Hasegawa Fumio Ozaki Dynagent: An Incremental Forward-Chaining HTN Planning Agent in Dynamic Domains. 171-187 2005 conf/dalt/2005 DALT http://dx.doi.org/10.1007/11691792_11 db/conf/dalt/dalt2005.html#HayashiTHO05