ICAPS 2014 talk on the paper
Enrico Scala.
Plan Repair for Resource Constrained Tasks via Numeric Macro Actions.
Proceedings of the Twenty-Fourth International Conference on Automated
Planning and Scheduling. pp. 280-288. 2014. AAAI Press
(online available at
http://www.aaai.org/ocs/index.php/ICAPS/ICAPS14/paper/view/7900)