Ortiz-Haro, J., E. Karpas, M. Toussaint, and M. Katz. “Conflict-Directed Diverse Planning for Logic-Geometric Programming”. Proceedings of the International Conference on Automated Planning and Scheduling, vol. 32, no. 1, June 2022, pp. 279-87, doi:10.1609/icaps.v32i1.19811.