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Theoretical and experimental results on the goal-plan tree ..:

, In: Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3,
Shaw, Patricia H. ; Farwer, Berndt ; Bordini, Rafael H. - p. 1379-1382 , 2008
Link: https://dl.acm.org/doi/10.5555/1402821.1402877