https://ocw.mit.edu/courses/16-410-principles-of-autonomy-and-decision-making-fall-2010/resources/mit16_410f10_lec08a/
MIT16_410F10_lec08a.pdf | Principles of Autonomy and Decision Making | Aeronautics and Astronautics...
This resource contains information related to planning I: operator-based planning and plan graphs.