-- Classical Planning
   -- Planning Graph vs. Progression Search Tree
   -- Mutex computation
      -- Binary Mutexes
      -- Higher-Order Mutexes
   -- Heuristics for:
      -- Progression search
	 -- Level-based Heuristics
	 -- Relaxed Plans
      -- Regression search
      -- Plan Space search
   -- Exploiting Heuristics
      -- RIFO
      -- Helpful Actions
      -- Executing Relaxed Plans
 -- Cost-based Planning
    -- Cost Function Propagation
    -- Cost-based level heuristics
    -- Biasing relaxed plans with cost functions 
 -- Partial Satisfaction Planning
    -- Selecting goal subsets
       -- Estimating net benfit of goals
    -- Negative interactions between goals
    -- Positive interactions between goals
    -- Anytime goal set selection
 -- Planning with Resources
    -- Propagating resource intervals
    -- Extracting relaxed plans to support resource subgoals
 -- Temporal Planning
    -- The temporal planning graph
       -- Levels becoming time points
       -- Incorporating delayed effects
    -- Makespan estimates
    -- Relaxed plan extraction
 -- Non-deterministic/Probabilistic Planning
    -- Belief state distance measures
       -- Positive Interaction
       -- Independence
       -- Overlap
       -- Negative Interaction
    -- Single Planning Graphs
    -- Multiple Planning Graphs
    -- Labelled Planning Graphs
    -- Monte Carlo Planning Graphs
    -- Implicit belief states and the CFF heuristic
 -- Hybrid models
    -- Metric-Temporal w/ Resources
       -- The SAPA multi-objective action cost and makespan heuristic 
    -- Temporal planning with Uncertainty
       -- The Prottle Planning Graph
    -- Partial Satisfaction with Resource goals
       -- Estimating net benefit of degree of satisfaction
    -- Cost-based Conditional Planning
       -- Cost propagation on the Labelled Planning graph
 -- Open Problems
    -- Complex Goals
       -- LTL
       -- Knowledge goals
    -- Lifted Planning
    -- Multi-agent Planning
       -- Cooperative
       -- Adversarial