Huang, Amy, Liam Lloyd, Mohamed Omar, and James Boerkoel. “New Perspectives on Flexibility in Simple Temporal Planning”. Proceedings of the International Conference on Automated Planning and Scheduling 28, no. 1 (June 15, 2018): 123–131. Accessed May 26, 2026. https://ojs.aaai.org/index.php/ICAPS/article/view/13907.