Behnke, Gregor, Daniel Höller, and Susanne Biundo. “On the Complexity of HTN Plan Verification and Its Implications for Plan Recognition”. Proceedings of the International Conference on Automated Planning and Scheduling 25, no. 1 (April 8, 2015): 25-33. Accessed April 25, 2024. https://ojs.aaai.org/index.php/ICAPS/article/view/13728.