A Sound (But Incomplete) Polynomial Translation from Discretised PDDL+ to Numeric Planning
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Springer International Publishing
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https://link.springer.com/content/pdf/10.1007/978-3-031-08421-8_2
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4. Fox, M., Long, D.: PDDL2.1: an extension to PDDL for expressing temporal planning domains. J. Artif. Intell. Res. 20, 61–124 (2003)
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