The footprint principle for heuristics for probabilistic planners, Jim Blythe
Formalizing the Prodigy Planning Algorithm,
Eugene Fink and Manuela Veloso
An extended version is available as technical report CMU-CS-94-123.
Selectively Delaying Linking Commitments in Partial-Order Planners, Rujith de Silva
User-Guided Interleaving of Planning and Execution Peter Stone and Manuela Veloso