1. Improving heuristics for planning as search in belief space;Bertoli,2002
2. Extending PDDL to nondeterminism, limited sensing and iterative conditional;Bertoli,2003
3. Conditional planning under partial observability as heuristic-symbolic search in belief space;Bertoli,2001
4. Heuristic search+symbolic model checking=efficient conformant planning;Bertoli,2001
5. Planning in nondeterministic domains under partial observability via symbolic model checking;Bertoli,2001