Carreno, Y., Èric Pairet, Y. Petillot, and R. P. A. Petrick. “A Decentralised Strategy for Heterogeneous AUV Missions via Goal Distribution and Temporal Planning”. Proceedings of the International Conference on Automated Planning and Scheduling, vol. 30, no. 1, June 2020, pp. 431-9, doi:10.1609/icaps.v30i1.6738.