@inproceedings{ijcai2009p272,
  title     = {Translating HTNs to PDDL: A Small Amount of Domain Knowledge Can Go a Long Way},
  author    = {Alford, Ronald and Kuter, Ugur and Nau, Dana S.},
  booktitle = {Proceedings of the Twenty-First International Joint Conference on
               Artificial Intelligence, {IJCAI-09}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Hiroaki Kitano},
  pages     = {1629--1633},
  year      = {2009},
  url       = {https://ijcai.org/proceedings/2009/272},
}