@inproceedings{BercherIJCAI19,
   title = {A Survey on Hierarchical Planning -- One Abstract Idea, Many Concrete Realizations},
   author = {Pascal Bercher and
Ron Alford and
Daniel H{\"{o}}ller},
   booktitle = {Proceedings of the 28th International Joint Conference on Artificial Intelligence ({IJCAI})},
   publisher = {IJCAI organization},
   pages = {6267--6275},
   year = {2019}
}