@article{multitierautomatedplanningforadaptive,
  title = {Multi-tier Automated Planning for Adaptive Behavior (Extended Version)},
  author = {Daniel Ciolek and Nicolás D'Ippolito and Alberto Pozanco and Sebastian Sardina},
  year = {2020},
  eprint = {2002.12445},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2002.12445v1},
}