Nicolas Meuleau Emmanuel Benazera Ronen I. Brafman Eric A. Hansen Mausam A Heuristic Search Approach to Planning with Continuous Resources in Stochastic Domains. 27-59 2009 34 J. Artif. Intell. Res. (JAIR) http://jair.org/papers/paper2529.html db/journals/jair/jair34.html#MeuleauBBHM09