@article{hddl21towardsdefiningaformalismanda,
  title = {HDDL 2.1: Towards Defining a Formalism and a Semantics for Temporal HTN Planning},
  author = {Damien Pellier and Alexandre Albore and Humbert Fiorino and Rafael Bailon-Ruiz},
  year = {2023},
  eprint = {2306.07353},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2306.07353v1},
}