@article{anefficienthtntostripsencodingfor,
  title = {An Efficient HTN to STRIPS Encoding for Concurrent Plans},
  author = {N. Cavrel and D. Pellier and H. Fiorino},
  year = {2022},
  eprint = {2206.07084},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2206.07084v1},
}