@conference {IIIA-2007-1680, title = {Improving HLRTA*(k)}, booktitle = {LNAI}, volume = {4788}, year = {2007}, pages = {110-119}, publisher = {Springer}, organization = {Springer}, author = {Carlos Hern{\'a}ndez and Pedro Meseguer}, editor = {D. Borrajo, L. Castillo, J.M. Corchado} }