@inproceedings{ijcai1993p192,
  title     = {Characterizing Subgoal Interactions for Planning},
  author    = {Barrett, Anthony and Weld, Daniel S.},
  booktitle = {Proceedings of the Thirteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-93}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Ruzena Bajcsy},
  pages     = {1388--1392},
  year      = {1993},
  note      = {Planning},
  url       = {https://ijcai.org/proceedings/1993/192},
}