Percassi, Francesco, and Alfonso E. Gerevini. “On Compiling Away PDDL3 Soft Trajectory Constraints Without Using Automata”. Proceedings of the International Conference on Automated Planning and Scheduling 29, no. 1 (July 5, 2019): 320–328. Accessed May 30, 2026. https://ojs.aaai.org/index.php/ICAPS/article/view/3494.