Helmert09'

@article{DBLP:journals/ai/Helmert09,
  author    = {Malte Helmert},
  title     = {Concise finite-domain representations for PDDL planning
               tasks},
  journal   = {Artif. Intell.},
  volume    = {173},
  number    = {5-6},
  year      = {2009},
  pages     = {503-535},
  ee        = {http://dx.doi.org/10.1016/j.artint.2008.10.013},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}