Task decomposition on abstract states, for planning under nondeterminism

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Artificial Intelligence 173 (5-6):669-695 (2009)
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10.1016/j.artint.2008.11.012

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Fast planning through planning graph analysis.Avrim L. Blum & Merrick L. Furst - 1997 - Artificial Intelligence 90 (1-2):281-300.

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