@article{bib:Nau03shop2,
        Author = {Dana Nau and Tsz-Chiu Au and Okhtay Ilghami and Ugur Kuter and William Murdock and Dan Wu and Fusun Yaman},
        Journal = {Journal of Artificial Intelligence Research (JAIR)},
        Month = {December},
        Pages = {379--404},
        Title = {{SHOP2}: An {HTN} Planning System},
        Volume = {20},
        Year = {2003}}