A Critical Look at Critics in HTN Planning. - Kutluhan Erol; James A. Hendler; Dana S. Nau; Reiko Tsuneto (IJCAI, 1995)

Commitment Strategies in Hierarchical Task Network Planning. - Reiko Tsuneto; Kutluhan Erol; James A. Hendler; Dana S. Nau (AAAI/IAAI, Vol. 1, 1996)

Plan-Refinement Strategies and Search-Space Size. - Reiko Tsuneto; Dana S. Nau; James A. Hendler (ECP, 1997)

Analyzing External Conditions to Improve the Efficiency of HTN Planning. - Reiko Tsuneto; James A. Hendler; Dana S. Nau (AAAI/IAAI, 1998)