@conference {18872,
	title = {A hierarchical task-network planner based on symbolic model checking},
	year = {2005},
	month = {2005///},
	pages = {300 - 309},
	abstract = {Although several approaches have been developed for planning in nondeterministic domains, solving large planning problems is still quite difficult. In this work, we present a novel algorithm, called YoYo, for planning in nondeterministic domains under the assumption of full observability. This algorithm enables us to combine the power of search-control strategies as in Planning with Hierarchical Task Networks (HTNs) with tech- niques from the Planning via Symbolic Model-Checking (SMC). Our experimental evaluation confirms the po- tentialities of our approach, demonstrating that it com- bines the advantages of these paradigms.},
	url = {https://www.aaai.org/Papers/ICAPS/2005/ICAPS05-031.pdf},
	author = {Kuter,U. and Nau, Dana S. and Pistore,M. and Traverso,P.}
}
