ALFORD, Ron; BERCHER, Pascal; AHA, David. Tight Bounds for HTN Planning with Task Insertion (Extended Abstract). Proceedings of the International Symposium on Combinatorial Search, [S. l.], v. 6, n. 1, p. 221–222, 2021. DOI: 10.1609/socs.v6i1.18347. Disponível em: https://ojs.aaai.org/index.php/SOCS/article/view/18347. Acesso em: 27 may. 2026.