Behnke, G., F. Pollitt, D. Höller, P. Bercher, and R. Alford. “Making Translations to Classical Planning Competitive With Other HTN Planners”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 36, no. 9, June 2022, pp. 9687-9, doi:10.1609/aaai.v36i9.21203.