Paper  bibtex   

@article{ koenig_lifelong_2004,
  title = {Lifelong planning A},
  volume = {155},
  url = {http://www.sciencedirect.com/science/article/pii/S000437020300225X},
  number = {1},
  urldate = {2015-02-11},
  journal = {Artificial Intelligence},
  author = {Koenig, Sven and Likhachev, Maxim and Furcy, David},
  year = {2004},
  pages = {93--146}
}