Goldman, Robert, and John Maraist. “Shopper: A System for Executing and Simulating Expressive Plans”. Proceedings of the International Conference on Automated Planning and Scheduling 20, no. 1 (May 5, 2010): 230–233. Accessed May 26, 2026. https://ojs.aaai.org/index.php/ICAPS/article/view/13432.