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On the Use of Integer Programming Models in AI Planning., , , and . IJCAI, page 304-309. Morgan Kaufmann, (1999)SHOP: simple hierarchical ordered planner, , , and . Proceedings of the 16th international joint conference on Artificial intelligence - Volume 2, page 968--973. San Francisco, CA, USA, Morgan Kaufmann Publishers Inc., (1999)Optimal Aggregation Algorithms for Middleware., , and . PODS, ACM, (2001)New Advances in GraphHTN: Identifying Independent Subproblems in Large HTN Domains., and . AIPS, page 206-215. AAAI, (2000)Total-Order Planning with Partially Ordered Subtasks., , , , and . IJCAI, page 425-430. Morgan Kaufmann, (2001)SHOP: Simple Hierarchical Ordered Planner., , , and . IJCAI, page 968-975. Morgan Kaufmann, (1999)Using Planning Graphs for Solving HTN Planning Problems., , and . AAAI/IAAI, page 534-540. AAAI Press / The MIT Press, (1999)