@inproceedings{ijcai2009p278,
  title     = {Stratified Planning},
  author    = {Chen, Yixin and Xu, You and Yao, Guohui},
  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     = {1665--1669},
  year      = {2009},
  url       = {https://ijcai.org/proceedings/2009/278},
}