@Article{Koen:04,
  author = 	 "S. Koenig and M. Likhachev and D. Furcy",
  title = 	 "{L}ifelong {P}lanning {A*}",
  journal = 	 "Artificial Intelligence",
  year = 	 "2004",
  volume = 	 "155",
  number = 	 "1-2",
  pages = 	 "93--146",
  month = 	 "May",
}