@inproceedings{ijcai2017p623,
  title     = {Hierarchical Task Network Planning with Task Insertion and State Constraints},
  author    = {Xiao, Zhanhao and Herzig, Andreas and Perrussel, Laurent and Wan, Hai and Su, Xiaoheng},
  booktitle = {Proceedings of the Twenty-Sixth International Joint Conference on
               Artificial Intelligence, {IJCAI-17}},
  publisher = {International Joint Conferences on Artificial Intelligence Organization},
  editor    = {Carles Sierra},
  pages     = {4463--4469},
  year      = {2017},
  month     = {8},
  note      = {Main track},
  doi       = {10.24963/ijcai.2017/623},
  url       = {https://doi.org/10.24963/ijcai.2017/623},
}