@inproceedings{ijcai2017p623,
  author    = {Zhanhao Xiao and Andreas Herzig and Laurent Perrussel and Hai Wan and Xiaoheng Su},
  title     = {Hierarchical Task Network Planning with Task Insertion and State Constraints},
  booktitle = {Proceedings of the Twenty-Sixth International Joint Conference on
               Artificial Intelligence, {IJCAI-17}},
  pages     = {4463--4469},
  year      = {2017},
  doi       = {10.24963/ijcai.2017/623},
  url       = {https://doi.org/10.24963/ijcai.2017/623},
}