@INPROCEEDINGS{ClaLak:KR2006,
  title     = {Foundations for Knowledge-Based Programs using {ES}},
  author    = {Jens Cla{\ss}en and Gerhard Lakemeyer},
  booktitle = {Proceedings of the 10th Conference on Principles of
                  Knowledge Representation and Reasoning (KR 2006)},
  year      = {2006},
  editor    = {Patrick Doherty and John Mylopoulos and Christopher
                  A. Welty},
  pages     = {318--328}, 
  publisher = {AAAI Press},
  abstract  = {Reiter proposed a semantics for knowledge-based Golog
                  programs with sensing where program execution can be
                  conditioned on tests involving explicit references
                  to what the agent knows and does not know. An
                  important result of this work is that reasoning
                  about knowledge after the execution of actions can
                  be reduced to classical reasoning from an initial
                  first-order theory.  However, it is limited in that
                  tests can only refer to what is known about the
                  current state, knowledge about knowledge is not
                  considered, and the reduction does not apply to
                  formulas with quantifying-in. This is in large part
                  due to the choice of the underlying formalism, which
                  is Reiter{\textquoteright}s version of the situation
                  calculus. In this paper we show that, by moving to a
                  new situation calculus recently proposed by
                  Lakemeyer and Levesque, we cannot only reconstruct
                  Reiter{\textquoteright}s foundations for
                  knowledge-based programs but we can significantly go
                  beyond them, which includes removing the above
                  restrictions and more.},
  url       = {http://kbsg.rwth-aachen.de/~classen/pub/ClassenLakemeyer2006a.pdf}
}

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