Derek Long Henry A. Kautz Bart Selman Blai Bonet Hector Geffner Jana Koehler Michael Brenner Jörg Hoffmann Frank Rittinger Corin R. Anderson Daniel S. Weld David E. Smith Maria Fox The AIPS-98 Planning Competition. 13-33 2000 21 AI Magazine 2 db/journals/aim/aim21.html#LongKSBGKBHRAWSF00 http://www.aaai.org/ojs/index.php/aimagazine/article/view/1505