@inproceedings{ijcai2016p429,
  title     = {Hierarchical Planning: Relating Task and Goal Decomposition with Task Sharing},
  author    = {Alford, Ronald and Shivashankar, Vikas and Roberts, Mark and Frank, Jeremy and Aha, David W.},
  booktitle = {Proceedings of the Twenty-Fifth International Joint Conference on
               Artificial Intelligence, {IJCAI-16}},
  publisher = {AAAI Press / International Joint Conferences on Artificial Intelligence},
  editor    = {Subbarao Kambhampati},
  pages     = {3022--3028},
  year      = {2016},
  month     = {7},
  url       = {https://ijcai.org/proceedings/2016/429},
}