Using Planning Graphs for Solving HTN Planning Problems

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\begin{bibtex} @inproceedings{DBLP:conf/aaai/LotemNH99, title={Using Planning Graphs for Solving HTN Planning Problems}, pages={534-540}, year={1999}, booktitle={AAAI/IAAI}, url={http://www.informatik.uni-trier.de/~ley/db/conf/aaai/aaai99.html#LotemNH99}, author={Amnon Lotem and Dana S. Nau and James A. Hendler} }\end{bibtex}

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