@article{fapeaconstraintbasedplannerfor,
  title = {FAPE: a Constraint-based Planner for Generative and Hierarchical Temporal Planning},
  author = {Arthur Bit-Monnot and Malik Ghallab and Félix Ingrand and David E. Smith},
  year = {2020},
  eprint = {2010.13121},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2010.13121v1},
}