@inproceedings{ zhu_abstracting_2006,
  title = {Abstracting Planning Problems with Preferences and Soft Goals},
  url = {http://ldc.usb.ve/~bonet/ipc5/docs/ipc-2006-booklet.pdf.gz#page=60},
  urldate = {2015-01-19},
  booktitle = {International Planning Competittion: {ICAPS} 2006},
  author = {Zhu, Lin and Givan, Robert},
  year = {2006},
  pages = {56--57}
}

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