@inproceedings{BehnkeIJCAI19,
   title = {Finding Optimal Solutions in HTN Planning -- A SAT-based Approach},
   author = {Gregor Behnke and Daniel H{\"{o}}ller and Susanne Biundo},
   booktitle = {Proceedings of the 28th International Joint Conference on Artificial Intelligence (IJCAI)},
   publisher = {IJCAI organization},
   pages = {5500--5508},
   year = {2019}
}