@inproceedings{hu09_loops,
 title={Planning with Loops: Some New Results},
 author={Yuxiao Hu and Hector J. Levesque},
 booktitle={Proceedings of the ICAPS 2009 Workshop on Generalized Planning: Macros, Loops, Domain Control. September 20th, 2009, Thessaloniki, Greece},
 year={2009}
}

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