@inproceedings{ijcai2011p327,
  title     = {On the Decidability of HTN Planning with Task Insertion},
  author    = {Geier, Thomas and Bercher, Pascal},
  booktitle = {Proceedings of the Twenty-Second International Joint Conference on
               Artificial Intelligence, {IJCAI-11}},
  publisher = {AAAI Press/International Joint Conferences on Artificial Intelligence},
  editor    = {Toby Walsh},
  pages     = {1955--1960},
  year      = {2011},
  month     = {7},
  doi       = {10.5591/978-1-57735-516-8/IJCAI11-327},
  url       = {https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-327},
}