@inproceedings{hertle12ecai,
   author = {Andreas Hertle and Christian Dornhege and Thomas Keller and Bernhard Nebel},
   title = {Planning with Semantic Attachments: An Object-Oriented View},
   booktitle = {Proceedings of the European Conference on Artificial Intelligence (ECAI)},
   month = august,
   year = {2012},
   url =
    {http://www.informatik.uni-freiburg.de/~ki/papers/hertle_et_al_ecai12.pdf}
}