@inproceedings{ijcai1975p31,
  title     = {The Nonlinear Nature of Plans},
  author    = {Sacerdoti, Earl D.},
  booktitle = {Proceedings of the Fourth International Joint Conference on
               Artificial Intelligence, {IJCAI-75}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Patrick Winston and Carl Hewitt},
  pages     = {206--213},
  year      = {1975},
  note      = {Planning and Problem Solving},
  url       = {https://ijcai.org/proceedings/1975/31},
}