Blai Bonet Hector Geffner Learning Depth-First Search: A Unified Approach to Heuristic Search in Deterministic and Non-Deterministic Settings, and Its Application to MDPs. 142-151 2006 conf/aips/2006 ICAPS db/conf/aips/icaps2006.html#BonetG06 http://www.aaai.org/Library/ICAPS/2006/icaps06-015.php