@article{macroff-jair05,
  author = {A. Botea and M. Enzenberger M. M\"{u}ller and J. Schaeffer},
  title = {{Macro-FF: Improving AI Planning with Automatically Learned Macro-Operators}},
  journal = "Journal of Artificial Intelligence Research",
  year = "2005",
  volume = "24",
  pages = "581--621",
}