@article{DBLP:journals/ai/BacchusY94,
	author = {Fahiem Bacchus and Qiang Yang},
	title = {Downward Refinement and the Efficiency of Hierarchical Problem Solving},
        area = {Planning (including under Uncertainty)},
	url = {BYAIJ94.pdf},
	journal = {Artif. Intell.},
	volume = {71},
	number = {1},
	year = {1994},
	pages = {43-100},
	bibsource = {DBLP http://dblp.uni-trier.de}
}

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