Wei Huang Zhonghua Wen Yunfei Jiang Hong Peng Structured Plans and Observation Reduction for Plans with Contexts. 1721-1727 2009 IJCAI http://ijcai.org/papers09/Papers/IJCAI09-287.pdf conf/ijcai/2009 db/conf/ijcai/ijcai2009.html#HuangWJP09