Fast planning through planning graph analysis. Blum, A. L. & Furst, M. AIJ, 90:281–300, 1997.
bibtex   
@article{Blum+Furst:1997,
	author = "Blum, A. L. and Furst, M.",
	year = "1997",
	title = "Fast planning through planning graph analysis",
	journal = aij,
	volume = "90",
	_number = "1--2",
	pages = "281--300"
}

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