Cashmore, M., A. Coles, B. Cserna, E. Karpas, D. Magazzeni, and W. Ruml. “Replanning for Situated Robots”. Proceedings of the International Conference on Automated Planning and Scheduling, vol. 29, no. 1, May 2021, pp. 665-73, doi:10.1609/icaps.v29i1.3534.