@article{DBLP:journals/ai/HoffmannB06,
  author    = {J{\"o}rg Hoffmann and
               Ronen I. Brafman},
  title     = {Conformant planning via heuristic forward search: A new
               approach},
  journal   = {Artif. Intell.},
  volume    = {170},
  number    = {6-7},
  year      = {2006},
  pages     = {507-541},
  ee        = {http://dx.doi.org/10.1016/j.artint.2006.01.003},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}