Yixin Chen Benjamin W. Wah Chih-Wei Hsu Temporal Planning using Subgoal Partitioning and Resolution in SGPlan. 323-369 2006 26 J. Artif. Intell. Res. (JAIR) http://www.jair.org/papers/paper1918.html db/journals/jair/jair26.html#ChenWH06