@inproceedings{ijcai2005p2,
  title     = {Planning with Loops},
  author    = {Levesque, Hector J.},
  booktitle = {Proceedings of the Nineteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-05}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  pages     = {509--514},
  year      = {2005},
  url       = {https://ijcai.org/proceedings/2005/2},
}