Understanding and Extending Graphplan. - Subbarao Kambhampati; Eric Parker; Eric Lambrecht (ECP, 1997)

Optimizing Recursive Information-Gathering Plans. - Eric Lambrecht; Subbarao Kambhampati; Senthil Gnanaprakasam (IJCAI, 1999)

Optimizing Recursive Information Gathering Plans in EMERAC. - Subbarao Kambhampati; Eric Lambrecht; Ullas Nambiar; Zaiqing Nie; Senthil Gnanaprakasam (J. Intell. Inf. Syst., 2004)