Automated Scheduling, Optimization and Planning research group, School of Computer Science, University of Nottingham, UK.|Automated Scheduling, Optimization and Planning research group, School of Computer Science, University of Nottingham, UK.|Automated Scheduling, Optimization and Planning research group, School of Computer Science, University of Nottingham, UK.|Automated Scheduling, Optimization and Planning research group, School of Computer Science, University of Nottingham, UK.