Elena Kelareva Olivier Buffet Jinbo Huang Sylvie Thiébaux Factored Planning Using Decomposition Trees. 1942-1947 2007 conf/ijcai/2007 IJCAI http://dli.iiit.ac.in/ijcai/IJCAI-2007/PDF/IJCAI07-313.pdf db/conf/ijcai/ijcai2007.html#KelarevaBHT07