@article{towardconstraintcompliantgoalformulation,
  title = {Toward Constraint Compliant Goal Formulation and Planning},
  author = {Steven J. Jones and Robert E. Wray},
  year = {2024},
  eprint = {2405.12862},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2405.12862v2},
}