Abstract Reasoning for Planning and Coordination. Clement, B.; Durfee, E.; and Barrett, A. Journal of Artificial Intelligence Research (JAIR), 28:453-515, 2007.
Abstract Reasoning for Planning and Coordination [pdf]Paper  bibtex   
@article{clement-durfee-barrett-2007,
  author = {B. Clement and E. Durfee and A. Barrett},
  title = {Abstract Reasoning for Planning and Coordination},
  journal = {Journal of Artificial Intelligence Research (JAIR)},
  year = {2007},
  pages = {453-515},
  volume = {28},
  url = {https://ai.jpl.nasa.gov/public/papers/clement_jair07_abstract.pdf},
  clearance = {CL#06-3595},
}
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