Mark S. Boddy Maria Fox Sylvie Thiébaux The Seventeenth International Conference on Automated Planning and Scheduling (ICAPS-07). 116-119 2008 29 AI Magazine 3 http://www.aaai.org/ojs/index.php/aimagazine/article/view/2162 db/journals/aim/aim29.html#BoddyFT08