Effective Planning with More Expressive Languages. Francès, G. & Geffner, H. In Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence, IJCAI 2016, New York, NY, USA, 9-15 July 2016, pages 4155–4159, 2016. IJCAI/AAAI Press.
Effective Planning with More Expressive Languages [link]Paper  bibtex   
@inproceedings{DBLP:conf/ijcai/FrancesG16a,
  author       = {Guillem Franc{\`{e}}s and
                  Hector Geffner},
  editor       = {Subbarao Kambhampati},
  title        = {Effective Planning with More Expressive Languages},
  booktitle    = {Proceedings of the Twenty-Fifth International Joint Conference on
                  Artificial Intelligence, {IJCAI} 2016, New York, NY, USA, 9-15 July
                  2016},
  pages        = {4155--4159},
  publisher    = {{IJCAI/AAAI} Press},
  year         = {2016},
  url          = {http://www.ijcai.org/Abstract/16/621},
  timestamp    = {Tue, 20 Aug 2019 01:00:00 +0200},
  biburl       = {https://dblp.org/rec/conf/ijcai/FrancesG16a.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

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