Brandao, Martim, Amanda Coles, Andrew Coles, and Jörg Hoffmann. “Merge and Shrink Abstractions for Temporal Planning”. Proceedings of the International Conference on Automated Planning and Scheduling 32, no. 1 (June 13, 2022): 16-25. Accessed April 23, 2024. https://ojs.aaai.org/index.php/ICAPS/article/view/19781.