Abstraction in Planning. Tenenberg, J. D. In Allen, J. F., Kautz, H. A., Pelavin, R. N., & Tenenberg, J. D., editors, Reasoning about Plans, pages 213–280. Morgan-Kaufmann, San Mateo, 1991.
bibtex   
@incollection{tenenberg91,
	Address = {San Mateo},
	Author = {Josh D. Tenenberg},
	Booktitle = {Reasoning about Plans},
	Editor = {J. F. Allen and H. A. Kautz and R. N. Pelavin and J. D. Tenenberg},
	Pages = {213--280},
	Publisher = {Morgan-Kaufmann},
	Title = {Abstraction in Planning},
	Year = {1991}}

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