Farias, G. P., R. F. Pereira, L. Hilgert, F. Meneguzzi, R. Vieira, and R. H. Bordini. “Predicting Plan Failure by Monitoring Action Sequences and Duration”. ADCAIJ: Advances in Distributed Computing and Artificial Intelligence Journal, vol. 6, no. 4, Dec. 2017, pp. 55-69, doi:10.14201/ADCAIJ2017645569.