Three States and a Plan: The A.I. of F. E. A. R.http://web.media.mit.edu/~jorkin/gdc2006_orkin_jeff_fear.pdf
The author of this white paper is Jeff Orkin - creator of the revolutionary AI for F. E. A. R. In his article Jeff uncovered how to make hard math work for you with very detailed description of Goal Oriented Hierarchical Planner.
Submitted in section: Artificial Intelligence: Games: Three States and a Plan: The A.I. of F. E. A. R.