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  1. Symbolic perimeter abstraction heuristics for cost-optimal planning.Álvaro Torralba, Carlos Linares López & Daniel Borrajo - 2018 - Artificial Intelligence 259 (C):1-31.
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  • Boosting optimal symbolic planning: Operator-potential heuristics.Daniel Fišer, Álvaro Torralba & Jörg Hoffmann - 2024 - Artificial Intelligence 334 (C):104174.
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