@misc{indiciaeb7fd8138bbdc,
  title = {Simplifying a Lifted Plan Graph Using Domain Splitting},
  author = {Petrie, Karen and Pang, Wanlin and Golden, Keith and Frank, Jeremy},
  year = {2002},
  url = {https://ntrs.nasa.gov/citations/20040021364},
  note = {Source identifier: 20040021364}
}