Factored Planning: How, When, and When Not. Brafman, R. I. & Domshlak, C. In Proceedings, The Twenty-First National Conference on Artificial Intelligence and the Eighteenth Innovative Applications of Artificial Intelligence Conference, July 16-20, 2006, Boston, Massachusetts, USA, 2006.
bibtex   
@inproceedings{ DBLP:conf/aaai/BrafmanD06,
  author    = {Ronen I. Brafman and Carmel Domshlak},
  title     = {Factored Planning: How, When, and When Not},
  booktitle   = {Proceedings, The Twenty-First National Conference on Artificial Intelligence and the Eighteenth Innovative Applications of Artificial Intelligence Conference, July 16-20, 2006, Boston, Massachusetts, USA} ,
  year   = {2006}
}

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