Alfonso Gerevini Patrik Haslum Derek Long Alessandro Saetti Yannis Dimopoulos Deterministic planning in the fifth international planning competition: PDDL3 and experimental evaluation of the planners. 619-668 2009 173 Artif. Intell. 5-6 http://dx.doi.org/10.1016/j.artint.2008.10.012 db/journals/ai/ai173.html#GereviniHLSD09