ConGolog, Sin Trans: Compiling ConGolog into Basic Action Theories for Planning and Beyond. Fritz, C.; Baier, J. A.; and 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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@inproceedings{ fri-bai-mci-kr08,
  author = {Christian Fritz and Jorge A. Baier and Sheila A. McIlraith},
  title = {ConGolog, Sin Trans: Compiling ConGolog into Basic Action Theories for Planning and Beyond},
  url = {fri-bai-mci-kr08.pdf},
  booktitle = {Proceedings on the 11th International Conference on Principles of Knowledge Representation and Reasoning},
 address = {Sydney, Australia},
 month = {September 16-19},
 note = {Technical Report CSRG-576, containing the proofs of the theorems and a more detailed description of the compilation, can be found <a href="ftp://ftp.cs.toronto.edu/csrg-technical-reports/576/fri-bai-mci-kr08-techreport.pdf">here</a>.},
  year = {2008},
 pages = {600-610}
}