Katz, Michael, and Emil Keyder. “Structural Patterns Beyond Forks: Extending the Complexity Boundaries of Classical Planning”. Proceedings of the AAAI Conference on Artificial Intelligence 26, no. 1 (September 20, 2021): 1779–1785. Accessed May 10, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/8357.