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Reference: goldman-00-macbeth

Goldman, R. P., Haigh, K. Z.; Musliner, D. J.; and Pelican, M. 2000.
MACBeth: A Multi-Agent Constraint-Based Planner.
In Papers from the AAAI-2000 Workshop on Constraints and AI Planning, Technical Report, WS-00-02, 11-17. AAAI Press, Menlo Park, California.

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