Planning and Execution through Variable Resolution Planning. Martínez, M., Fernández, F., & Borrajo, D. Robotics and Autonomous Systems, 83:214–230, Elsevier, 2016.
Planning and Execution through Variable Resolution Planning [link]Paper  bibtex   
@article{ras16,

  author = {Moisés Martínez and Fernando Fernández and Daniel Borrajo},

  title = {Planning and Execution through Variable Resolution Planning},

  journal = {Robotics and Autonomous Systems},

  year = {2016},

  key = {Planning-Learning},

  cicyt = {revista},

  publisher = {Elsevier},

  url = {http://dx.doi.org/10.1016/j.robot.2016.04.009},

  volume = {83},

  optnumber = {},

  optmonth = {September},

  pages = {214--230},

  note = {},

  jcr = {Q2, 2016: 1.950 Categoría: Automation \& Control Systems (28/60), Categoría: Computer Science, Artificial

                  Intelligence (60/133), Categoría: Robotics (14/26)},

  optannote = {http://www.sciencedirect.com/science/article/pii/S0921889016302172}

}
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