Planning Under Time Constraints in Stochastic Domains. Dean, T.; Kaelbling, L. P.; Kirman, J.; and Nicholson, A. Artificial Intelligence, 76:35–74, 1995.
bibtex   
@article{dean:aij95,
	Author = {Thomas Dean and Leslie Pack Kaelbling and Jak Kirman and Ann Nicholson},
	Journal = {Artificial Intelligence},
	Pages = {35--74},
	Title = {Planning Under Time Constraints in Stochastic Domains},
	Volume = {76},
	Year = {1995}}
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