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    Lin, S., Behnke, G., & Bercher, P. (2022). Exploiting Solution Order Graphs and Path Decomposition Trees for More Efficient HTN Plan Verification via SAT Solving. In HPLAN 2022 : Proceedings of the 5th Workshop on Hierarchical Planning: 32nd International Conference on Automated Planning and Scheduling : June 13-24, 2022, virtually from Singapore (pp. 24-28). ICAPS. https://icaps22.icaps-conference.org/workshops/HPlan/papers/paper-04.pdf
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