Speck, David, David Borukhson, Robert Mattmüller, and Bernhard Nebel. “On the Compilability and Expressive Power of State-Dependent Action Costs”. Proceedings of the International Conference on Automated Planning and Scheduling 31, no. 1 (May 17, 2021): 358-366. Accessed September 28, 2022. https://ojs.aaai.org/index.php/ICAPS/article/view/15981.