Building a virtual topology atop wireless devices. - Nathaniel Waisbrot (J. Comput. Sci. Coll., 2002)

Combining Domain-Independent Planning and HTN Planning: The Duet Planner. - Alfonso Gerevini; Ugur Kuter; Dana S. Nau; Alessandro Saetti; Nathaniel Waisbrot (ECAI, 2008)

Combining Heuristic Search with Hierarchical Task-Network Planning: A Preliminary Report. - Nathaniel Waisbrot; Ugur Kuter; Tolga Könik (FLAIRS, 2008)