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@InCollection(ewsp95, Author="Peter Stone and Manuela Veloso",
        Title="User-guided Interleaving of Planning and Execution",
        BookTitle="New Directions in AI Planning",
        Editor="M.~Ghallab and A.~Milani",
        Publisher="IOS Press",
        Pages="103--112",
        Year="1996",
        abstract={
                  We explore two advantages of interleaving execution
                  with planning.  First, the overall planning and
                  execution time can be reduced.  Second, information
                  from the environment can be incorporated into the
                  planner's knowledge of the world.  We extend the
                  PRODIGY planner to handle execution as prompted by the
                  user and to incorporate information that results
                  from this execution.  Such information can either
                  arise automatically or can be input by the user.
                  Finally, we briefly discuss ways to help the user
                  determine potentially useful or needed points for
                  execution during planning. 
        },
)