Schreiber, Dominik, Damien Pellier, Humbert Fiorino, and Toma´s Balyoˇ. “Tree-REX: SAT-Based Tree Exploration for Efficient and High-Quality HTN Planning”. Proceedings of the International Conference on Automated Planning and Scheduling 29, no. 1 (May 25, 2021): 382-390. Accessed July 2, 2022. https://ojs.aaai.org/index.php/ICAPS/article/view/3502.