@inproceedings{ijcai2007p310,
  title     = {Constraint Partitioning for Solving Planning Problems with Trajectory Constraints and Goal Preferences},
  author    = {Hsu, Chih-Wei and Wah, Benjamin W. and Huang, Ruoyun and Chen, Yixin},
  booktitle = {Proceedings of the Twentieth International Joint Conference on
               Artificial Intelligence, {IJCAI-07}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Ramon López de Mántaras},
  pages     = {1924--1928},
  year      = {2007},
  url       = {https://ijcai.org/proceedings/2007/310},
}