@article{JMLR:v9:yoon08a,
  author  = {Sungwook Yoon and Alan Fern and Robert Givan},
  title   = {Learning Control Knowledge for Forward Search Planning},
  journal = {Journal of Machine Learning Research},
  year    = {2008},
  volume  = {9},
  number  = {24},
  pages   = {683--718},
  url     = {http://jmlr.org/papers/v9/yoon08a.html}
}