Siddiqui, FazlulHaslum, Patrik2015-12-10August 3-99781577356332http://hdl.handle.net/1885/65841AI planners have to compromise between the speed of the planning process and the quality of the generated plan. Anytime planners try to balance these objectives by finding plans of better quality over time, but current anytime planners often do not make eAuthor/s retain copyright20132015-12-10