Shperberg, Shahaf S., Andrew Coles, Erez Karpas, Wheeler Ruml, and Solomon E. Shimony. “Situated Temporal Planning Using Deadline-Aware Metareasoning”. Proceedings of the International Conference on Automated Planning and Scheduling 31, no. 1 (May 17, 2021): 340-348. Accessed September 28, 2022. https://ojs.aaai.org/index.php/ICAPS/article/view/15979.