A problem-decomposition method using differences or equivalence relations between states

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Artificial Intelligence 25 (2):117-151 (1985)
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10.1016/0004-3702(85)90001-3

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Planning in a hierarchy of abstraction spaces.Earl D. Sacerdoti - 1974 - Artificial Intelligence 5 (2):115-135.
Toward a model of representation changes.Richard E. Korf - 1980 - Artificial Intelligence 14 (1):41-78.

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