Rieffel, Eleanor, Davide Venturelli, Minh Do, Itay Hen, and Jeremy Frank. “Parametrized Families of Hard Planning Problems from Phase Transitions”. Proceedings of the AAAI Conference on Artificial Intelligence 28, no. 1 (June 21, 2014). Accessed May 31, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/9044.