Laura Sebastia Eva Onaindia Eliseo Marzal STeLLa v2.0: Planning with Intermediate Goals. 805-814 2002 conf/iberamia/2002 IBERAMIA http://link.springer.de/link/service/series/0558/bibs/2527/25270805.htm db/conf/iberamia/iberamia2002.html#SebastiaOM02