Michael Katz 0001 Nir Lipovetzky Dany Moshkovich Alexander Tuisov Adapting Novelty to Classical Planning as Heuristic Search. 172-180 2017 ICAPS https://aaai.org/ocs/index.php/ICAPS/ICAPS17/paper/view/15736 conf/aips/2017 db/conf/aips/icaps2017.html#KatzLMT17