cite KoopmanP2009

bibliography @ df02f1da

-Subproject commit eb75a4872df90d5b13962e172e92c9614075823f
+Subproject commit df02f1da6ca87dcbc86ae9ea9f2dd5374b2f680d

planning.tex

@@ -69,4 +69,10 @@ In \cref{sec:scheduling} we will see how each of them can be expressed in the mo
 For the planner, we are for now content with a more modest goal.
 An order constraint between two tasks should express that the tasks are not commutative and not parallelizable.
 Unconstrained tasks should be commutative and parallelizable.
-The planner can not identify tasks related by the remaining two combinations.
+In classical partial-order planning, unconstrained tasks are commutative, but not necessarily parallelizable.
+That is the reason why we developed the method described in the next section.
+
+
+\subsection{Plan Synthesis Using Generic Programming}
+
+\citet{KoopmanP2009}