Planning for Conjunctive Goals. Chapman, D. Artificial Intelligence, 32(3):333–377, 1987.
bibtex   
@article{chapman:tweak,
	Author = {David Chapman},
	Journal = {Artificial Intelligence},
	Number = 3,
	Pages = {333--377},
	Title = {Planning for Conjunctive Goals},
	Volume = 32,
	Year = 1987}
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