To, Son, Benjamin Johnson, Mark Roberts, and David Aha. “A New Approach to Temporal Planning With Rich Metric Temporal Properties”. Proceedings of the International Conference on Automated Planning and Scheduling 27, no. 1 (June 5, 2017): 288-296. Accessed May 5, 2024. https://ojs.aaai.org/index.php/ICAPS/article/view/13839.