Ronen I. Brafman Carmel Domshlak Yagil Engel Moshe Tennenholtz Planning Games. 73-78 2009 IJCAI http://ijcai.org/papers09/Papers/IJCAI09-023.pdf conf/ijcai/2009 db/conf/ijcai/ijcai2009.html#BrafmanDET09