The Situation Calculus: A Case for Modal Logic. Lakemeyer, G. Journal of Logic, Language and Information, 19(4):431–450, Springer, 2010.
doi  bibtex   
@article {KBSG_270,
        title = {The Situation Calculus: A Case for Modal Logic},
        journal = {Journal of Logic, Language and Information},
        volume = {19},
        number = {4},
        year = {2010},
        pages = {431--450},
        publisher = {Springer},
        doi = {10.1007/s10849-009-9117-6},
        author = {Lakemeyer, Gerhard}
}

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