Bonassi, Luigi, Alfonso Emilio Gerevini, Francesco Percassi, and Enrico Scala. “On Planning With Qualitative State-Trajectory Constraints in PDDL3 by Compiling Them Away”. Proceedings of the International Conference on Automated Planning and Scheduling 31, no. 1 (May 17, 2021): 46-50. Accessed September 20, 2024. https://ojs.aaai.org/index.php/ICAPS/article/view/15945.