<html><head><meta name="color-scheme" content="light dark"></head><body><pre style="word-wrap: break-word; white-space: pre-wrap;">\begin{thebibliography}{10}

\bibitem{AndrewsEtal95}
Scott Andrews, Brian Kettler, Kutluhan Erol, and James Hendler.
\newblock Um {T}ranslog: A {P}lanning {D}omain for the {D}evelopment and
  {B}enchmarking of {P}lanning {S}ystems.
\newblock 1995.

\bibitem{ucpop-manual-4}
A.~Barrett, D.~Christianson, M.~Friedman, K.~Golden, C.~Kwok, J.S. Penberthy,
  Y.~Sun, and D.~Weld.
\newblock {UCPOP} user's manual, (version 4.0).
\newblock Technical Report 93-09-06d, University of Washington, Department of
  Computer Science and Engineering, November 1995.
\newblock Available via FTP from \verb|pub/ai/| at {\tt ftp.cs.washington.edu}.

\bibitem{prodigy4.0-manual}
Jim Blythe, Oren Etzioni, Yolanda Gil, Robert Joseph, Dan Kahn, Craig Knoblock,
  Steven Minton, Alicia P\'{e}rez, Scott Reilly, Manuela Veloso, and Xuemei
  Wang.
\newblock Prodigy 4.0: The manual and tutorial.
\newblock Technical Report CMU-CS-92-150, Carnegie Mellon University, 1992.

\bibitem{clark-78}
K.~L. Clark.
\newblock Negation as failure.
\newblock In H.~Gallaire and J.~Minker, editors, {\em Logic and Data Bases},
  pages 293--322. Plenum Publishing Corporation, New York, NY, 1978.

\bibitem{currie-oplan}
K.~Currie and A.~Tate.
\newblock {O}-{P}lan: the open planning architecture.
\newblock {\em Artificial Intelligence}, 52(1):49--86, November 1991.

\bibitem{erol-aips-94}
K.~Erol, J.~Hendler, and D.~Nau.
\newblock {UMCP}: A sound and complete procedure for hierarchical task-network
  planning.
\newblock In {\em Proc. 2nd Intl. Conf. on AI Planning Systems}, pages
  249--254, June 1994.

\bibitem{mcdermott88}
Drew McDermott.
\newblock {R}evised {N}isp {M}anual.
\newblock Technical Report 642, Yale Computer Science Department, 1988.

\bibitem{mcdermott96}
Drew McDermott.
\newblock {A} {H}euristic {E}stimator for {M}eans-ends {A}nalysis in
  {P}lanning.
\newblock In {\em {P}roc. {I}nternational {C}onference on {A}I {P}lanning
  {S}ystems \bf 3}, pages 142--149, 1996.

\bibitem{pednault-ci88}
E.~Pednault.
\newblock Synthesizing plans that contain actions with context-dependent
  effects.
\newblock {\em Computational Intelligence}, 4(4):356--372, 1988.

\bibitem{pednault-kr89}
E.~Pednault.
\newblock {ADL}: Exploring the middle ground between {STRIPS} and the situation
  calculus.
\newblock In {\em Proc. 1st Int. Conf. on Principles of Knowledge
  Representation and Reasoning}, pages 324--332, 1989.

\bibitem{weld-etzioni-aaai94}
Dan Weld and Oren Etzioni.
\newblock The first law of robotics (a call to arms).
\newblock In {\em Proc. 12th Nat. Conf. on AI}, pages 1042--1047, 1994.

\bibitem{wilkins88}
David Wilkins.
\newblock {\em {P}ractical Planning: Extending the Classical {A}I Planning
  Paradigm}.
\newblock Morgan Kaufmann Publishers, Inc, 1988.

\end{thebibliography}
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