Asai, Masataro, and Alex Fukunaga. “Solving Large-Scale Planning Problems by Decomposition and Macro Generation”. Proceedings of the International Conference on Automated Planning and Scheduling 25, no. 1 (April 8, 2015): 16–24. Accessed May 9, 2026. https://ojs.aaai.org/index.php/ICAPS/article/view/13703.