@inproceedings{ijcai1997p167,
  title     = {Prioritized Goal Decomposition of Markov Decision Processes: Toward a Synthesis of Classical and Decision Theoretic Planning},
  author    = {Boutilier, Craig and Brafman, Ronen I. and Geib, Christopher W.},
  booktitle = {Proceedings of the Fifteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-97}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Martha E. Pollack},
  pages     = {1156--1161},
  year      = {1997},
  note      = {Planning and Scheduling},
  url       = {https://ijcai.org/proceedings/1997/167},
}