Peterson, John R., Anagha Kulkarni, Emil Keyder, Joseph Kim, and Shlomo Zilberstein. “Trajectory Constraint Heuristics for Optimal Probabilistic Planning”. Proceedings of the International Symposium on Combinatorial Search 15, no. 1 (July 17, 2022): 153–161. Accessed May 13, 2026. https://ojs.aaai.org/index.php/SOCS/article/view/21763.