@inproceedings{ijcai2015p215,
  title     = {Tight Bounds for HTN Planning with Task Insertion},
  author    = {Alford, Ronald and Bercher, Pascal and Aha, David W.},
  booktitle = {Proceedings of the Twenty-Fourth International Joint Conference on
               Artificial Intelligence, {IJCAI-15}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Qiang Yang and Michael Wooldridge},
  pages     = {1502--1507},
  year      = {2015},
  month     = {7},
  note      = {Main Track},
  url       = {https://ijcai.org/proceedings/2015/215},
}