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- Piergiorgio Bertoli, Alessandro Cimatti and Marco Roveri (2001) Heuristic Search + Symbolic Model Checking = Efficient Conformant Planning. In IJCAI., pages 467-472. (BibTeX)
- Piergiorgio Bertoli, Alessandro Cimatti and Marco Roveri (2001) Conditional Planning under Partial Observability as Heuristic-Symbolic Search in Belief Space. In European Conference on Planning (ECP'2001). Toledo, Spain, sep. (BibTeX)