Speck, D., D. Borukhson, R. Mattmüller, and B. Nebel. “On the Compilability and Expressive Power of State-Dependent Action Costs”. Proceedings of the International Conference on Automated Planning and Scheduling, vol. 31, no. 1, May 2021, pp. 358-66, doi:10.1609/icaps.v31i1.15981.