Planning graph as the basis for deriving heuristics for plan synthesis by state space and CSP search.

XuanLong Nguyen Subbarao Kambhampati Romeo Sanchez Nigenda Planning graph as the basis for deriving heuristics for plan synthesis by state space and CSP search. 73-123 2002 135 Artif. Intell. 1-2 db/journals/ai/ai135.html#NguyenKN02 http://dx.doi.org/10.1016/S0004-3702(01)00158-8