@inproceedings{ bai-mci-aaai06,
  author = {Baier, J. and McIlraith, S.},
  title = {Planning with First-Order Temporally Extended Goals Using Heuristic Search},
  url = {bai-mci-aaai06.pdf},
  booktitle = {Proceedings of the 21st National Conference on Artificial Intelligence (AAAI06)},
  address = {Boston, MA},
  month = {July},
  year = {2006},
  pages = {788-795}
}