Fully Deadline-Coupled Planning: One Step at a Time. - Madhura Nirkhe; Sarit Kraus; Donald Perlis (ISMIS, 1991)

Time-Situated Reasoning within Tight Deadlines and Realistic Space and Computation Bounds. - Madhura Nirkhe (AAAI, 1994)

Formal Real-Time Imagination. - Madhura Nirkhe; Sarit Kraus (Fundam. Informaticae, 1995)

How to (Plan to) Meet a Deadline between Now and Then. - Madhura Nirkhe; Sarit Kraus; Michael J. Miller; Donald Perlis (J. Log. Comput., 1997)