@article{efficienttemporalpiecewiselinearnumeric,
  title = {Efficient Temporal Piecewise-Linear Numeric Planning with Lazy Consistency Checking},
  author = {Josef Bajada and Maria Fox and Derek Long},
  year = {2021},
  eprint = {2105.10176},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2105.10176v2},
}