@article{torralba-et-al_aij2018,
  author       = {Torralba, Álvaro and Linares López, Carlos and Borrajo, Daniel},
  journal      = {Artificial Intelligence},
  pages        = {1 -- 31},
  title        = {Symbolic perimeter abstraction heuristics for cost-optimal planning},
  volume       = 259,
  year         = 2018,
}