Bit-Monnot, Arthur, Luca Pulina, and Armando Tacchella. “Cyber-Physical Planning: Deliberation for Hybrid Systems With a Continuous Numeric State”. Proceedings of the International Conference on Automated Planning and Scheduling 29, no. 1 (May 25, 2021): 49-57. Accessed August 8, 2022. https://ojs.aaai.org/index.php/ICAPS/article/view/3459.