Imai, Tatsuya, and Akihiro Kishimoto. “A Novel Technique for Avoiding Plateaus of Greedy Best-First Search in Satisficing Planning”. Proceedings of the International Symposium on Combinatorial Search, vol. 2, no. 1, Aug. 2021, pp. 197-8, doi:10.1609/socs.v2i1.18208.