Bonet, Blai, and Hector Geffner. “Width and Complexity of Belief Tracking in Non-Deterministic Conformant and Contingent Planning”. Proceedings of the AAAI Conference on Artificial Intelligence 26, no. 1 (September 20, 2021): 1756–1762. Accessed May 10, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/8365.