William Cushing Subbarao Kambhampati Mausam Daniel S. Weld When is Temporal Planning Really Temporal? 1852-1859 2007 conf/ijcai/2007 IJCAI http://dli.iiit.ac.in/ijcai/IJCAI-2007/PDF/IJCAI07-299.pdf db/conf/ijcai/ijcai2007.html#CushingKMW07