Behnke, Gregor, David Speck, Michael Katz, and Shirin Sohrabi. “On Partial Satisfaction Planning With Total-Order HTNs”. Proceedings of the International Conference on Automated Planning and Scheduling 33, no. 1 (July 1, 2023): 42-51. Accessed July 13, 2024. https://ojs.aaai.org/index.php/ICAPS/article/view/27177.