@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} }