@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}
}