The FF Planning System: Fast Plan Generation Through Heuristic Search. Hoffmann, J. & Nebel, B. JAIR, 14:253-302, 2001.
bibtex   
@article{Hoffmann+Nebel:2001,
	author = {J{\"o}rg Hoffmann and Bernhard Nebel},
	title = {The {FF} Planning System: Fast Plan Generation Through Heuristic Search},
	journal = jair,
	volume = {14},
	year = {2001},
	pages = {253-302}
}

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