@inproceedings{clement,
  author = {B. Clement and A. C. Barrett and G. R. Rabideau and E. H. Durfee},
  title = {Using Abstraction in Planning and Scheduling},
  booktitle = {ECP-01. Sixth European Conference on Planning, Toledo, Spain},
  year = {2001},
  pages = {145-156}
}