@InProceedings{knoblock91:spectrum, Author="Craig A. Knoblock and Josh
D. Tenenberg and Qiang Yang",
	Title="Characterizing Abstraction Hierarchies for Planning",
	BookTitle="Proceedings of the Ninth National Conference on Artificial Intelligence",
	Address="Anaheim, CA",
	Pages="692-697",
	Year="1991",
        	urlPaper= "http://usc-isi-i2.github.io/papers/knoblock91-spectrum.pdf",
  	Keywords = {"Abstraction Planning"}     
		}

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