@inproceedings{ sohBiaMcIIJCAI09,
  author = {Shirin Sohrabi and Jorge A. Baier and Sheila A. McIlraith},
  title = {HTN Planning with Preferences},
  url = {1242050782_Sohrabi-IJCAI09.pdf},
  booktitle = {Proceedings of the 21st International Joint Conference on Artificial Intelligence (IJCAI-09)},
  address = {Pasadena, CA, USA},
  month = {July},
  note = {This paper also appears in Commonsense 2009.},
  year = {2009},
  pages = {1790 --1797}
}