@INPROCEEDINGS{Liu:aaai02,
 AUTHOR= "Y. Liu and S. Koenig and D. Furcy",
 TITLE= "Speeding up the Calculation of Heuristics for Heuristic Search-Based Planning",
 BOOKTITLE= "Proceedings of the National Conference on Artificial Intelligence ({AAAI})",
 YEAR= "2002",
 PAGES= "484--491",
}