Gigante, N., A. Micheli, A. Montanari, and E. Scala. “Decidability and Complexity of Action-Based Temporal Planning over Dense Time”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 34, no. 06, Apr. 2020, pp. 9859-66, doi:10.1609/aaai.v34i06.6539.