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Griggs, D., M. Stafford Smith, J. Rockström, M. C. Öhman, O. Gaffney, G. Glaser, N. Kanie, I. Noble, W. Steffen, and P. Shyamsundar. 2014. An integrated framework for sustainable development goals. Ecology and Society 19(4): 49. https://doi.org/10.5751/ES-07082-190449
Griggs et al. (Wed,) studied this question.