@article{HollerKI21,
   title = {The {PANDA} Framework for Hierarchical Planning},
   author = {Daniel H{\"{o}}ller and Gregor Behnke and Pascal Bercher and Susanne Biundo},
   journal = {K{\"{u}}nstliche Intelligenz},
   volume = {35},
   pages = {391--396},
   year = {2021}
}