Planning with Loops. Levesque, H. J. In Proc. of IJCAI, pages 509-515, 2005.
Planning with Loops. [link]Paper  bibtex   
@InProceedings{levesque05_loop,
  Author         = {Hector J. Levesque},
  Title          = {Planning with Loops.},
  BookTitle      = {Proc. of IJCAI},
  Pages          = {509-515},
  isbn           = {0938075934},
  url            = {http://dblp.uni-trier.de/db/conf/ijcai/ijcai2005.html#Levesque05},
  year           = 2005
}

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