Höller, Daniel, and Gregor Behnke. “Encoding Lifted Classical Planning in Propositional Logic”. Proceedings of the International Conference on Automated Planning and Scheduling 32, no. 1 (June 13, 2022): 134-144. Accessed November 18, 2024. https://ojs.aaai.org/index.php/ICAPS/article/view/19794.