Lecture #8 looked at simple approaches to planning using STRIPS and partial order planning.
Notes are available in two formats:
The first half of this material is covered in the textbook in Chapter 10, pages 366-379 and partial-order planning is handled quite briefly on pages 390-391.
The original paper on the STRIPS approach was:
R. E. Fikes and N. J. Nilsson. STRIPS: A new approach to theorem proving in problem solving. Artificial Intelligence, 2:189--208, 1971.
As I mentioned in the lecture, STRIPS arose out of the work on Shakey the robot. If you are interested, you can take a look at the video on Shakey.
The successor to Shakey was Flakey, and this second video from 1993 shows you what progress was made in the intervening time (and as an added bonus, I make an appearance as an extra).