Downward Refinement and the Efficiency of Hierarchical Problem Solving

@article{Bacchus1994DownwardRA,
  title={Downward Refinement and the Efficiency of Hierarchical Problem Solving},
  author={Fahiem Bacchus and Qiang Yang},
  journal={Artif. Intell.},
  year={1994},
  volume={71},
  pages={43-100}
}
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