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In recent years the field of automated planning has significantly advanced and several powerful domain-independent planners have been developed. However, none of these systems clearly outperforms all the others in every known benchmark domain. This observation motivated the idea of configuring and exploiting a portfolio of planners to perform better than any individual planner: some recent planning systems based on this idea achieved significantly good results in experimental analysis anddoi:10.3233/aic-150671 fatcat:ztahfeemqze3hlhyvywkqkgig4