Kasenberg, D., R. Thielstrom, and M. Scheutz. “Generating Explanations for Temporal Logic Planner Decisions”. Proceedings of the International Conference on Automated Planning and Scheduling, vol. 30, no. 1, June 2020, pp. 449-58, https://ojs.aaai.org/index.php/ICAPS/article/view/6740.