Task decomposition on abstract states, for planning under nondeterminism.

Ugur Kuter Dana S. Nau Marco Pistore Paolo Traverso Task decomposition on abstract states, for planning under nondeterminism. 669-695 2009 173 Artif. Intell. 5-6 http://dx.doi.org/10.1016/j.artint.2008.11.012 db/journals/ai/ai173.html#KuterNPT09