ConGolog, Sin Trans: Compiling ConGolog into Basic Action Theories for Planning and Beyond. Fritz, C., Baier, J. A., & McIlraith, S. A. In Proceedings on the 11th International Conference on Principles of Knowledge Representation and Reasoning, pages 600-610, Sydney, Australia, September 16-19, 2008. Technical Report CSRG-576, containing the proofs of the theorems and a more detailed description of the compilation, can be found here.
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