@inproceedings{BehnkeAAAI20,
   title = {On Succinct Groundings of {HTN} Planning Problems},
   author = {Gregor Behnke and Daniel H{\"{o}}ller and Alexander Schmid and Pascal Bercher and Susanne Biundo},
   booktitle = {Proceedings of the 34th {AAAI} Conference on Artificial Intelligence ({AAAI})},
   publisher = {{AAAI} Press},
   pages = {9775--9784},
   year = {2020}
}