Loosely Coupled Formulations for Automated Planning: An Integer Programming Perspective.

Menkes Hector Louis van den Briel Thomas Vossen Subbarao Kambhampati Loosely Coupled Formulations for Automated Planning: An Integer Programming Perspective. 217-257 2008 31 J. Artif. Intell. Res. (JAIR) http://jair.org/papers/paper2443.html db/journals/jair/jair31.html#BrielVK08