Fixed minor spelling and grammar. Updated PDDL
Addressed reviewer comment regarding example of concurrent execution
Addressed reviewer comment regarding phrase 'always available'
Fixed Colin solution to PDDL
Defined Pallet Equivalent Units to better describe capacities
Added disclaimer regarding cpt-yashp problem instances
Minor fix to cpt-yahsp disclaimer
Added reference to optic in trials of problem
fixed definition of load and unload times to remove l subscripts
minor grammar fix. Removed @ symbol from name replaced with numbers
Added updated aaai style libraries. Replaced \scriptsize with \small as per style guides. Reduced image size to get within 8 pages