@InProceedings{Alford15TightTIHTNBoundsAbstract,
  Title     = {Tight Bounds for HTN planning with Task Insertion (Extended Abstract)},
  Author    = {Ron Alford and Pascal Bercher and David Aha},
  Booktitle = {Proceedings of the 8th Annual Symposium on Combinatorial Search ({SoCS} 2015)},
  Year      = {2015},
  Pages     = {221--222},
  Publisher = {AAAI Press},
  abstract  = {Hierarchical Task Network (HTN) planning with task insertion (TIHTN planning) is a variant of HTN planning. In HTN planning, the only means to alter task networks is to decompose compound tasks. In TIHTN planning, tasks may also be inserted directly. In this paper we provide tight complexity bounds for TIHTN planning along two axis: whether variables are allowed and whether methods must be totally ordered.},
  note      = {This is an extended abstract of the paper by Alford et al. with the same name.},
  doi       = {10.1609/socs.v6i1.18347},
  url_Paper = {https://bercher.net/publications/2015/Alford2015TightTIHTNBoundsAbstract.pdf},
  keywords  = {conference}
}

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