@ARTICLE{APIN2011, 
	author = {Giuseppe Della Penna and  Daniele Magazzeni and  Fabio Mercorio},
	title = {A Universal Planning System for Hybrid Domains}, 
	doi = {10.1007/s10489-011-0306-z},
	journal = {Applied Intelligence},
	editor = {Springer},

	pages = {932--959},
	year = {2012},
	month = {5},
	volume = {36},
	number = {4}
	
}