ICAPS 2014 talk on the paper
Ron Alford, Vikas Shivashankar, Ugur Kuter, Dana Nau.
On the Feasibility of Planning Graph Style Heuristics for HTN Planning.
Proceedings of the Twenty-Fourth International Conference on Automated
Planning and Scheduling. pp. 2-10. 2014. AAAI Press
(online available at
http://www.aaai.org/ocs/index.php/ICAPS/ICAPS14/paper/view/7909)