Jony Teixeira de Melo,  Carlos Roberto Lopes. 

In this work we concentrate on generating plans that take into account conditional actions. The main idea was to develop an algorithm that extended classical formalisms in a general way. By general way, we mean a flexible formalism that could use any algorithm for classical planning without any change. The result of our efforts was the development of a planner that we called METAPlan. In this paper we describe METAPlan and show some results of its performance.

http://www.springerlink.com/content/jr87574n78w35278

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