Goal Reasoning in the CLIPS Executive for Integrated Planning and Execution. Niemueller, T., Hofmann, T., & Lakemeyer, G. In Proceedings of the 29th International Conference on Automated Planning and Scheduling (ICAPS), pages 754-763.
bibtex   
@inproceedings{niemuellerGoalReasoningCLIPS2019,
  author = {Niemueller, Tim and Hofmann, Till and Lakemeyer, Gerhard},
  booktitle = {Proceedings of the 29th {{International Conference}} on {{Automated Planning}} and {{Scheduling}} ({{ICAPS}})},
  date = {2019},
  eventtitle = {29th {{International Conference}} on {{Automated Planning}} and {{Scheduling}}},
  pages = {754-763},
  title = {Goal Reasoning in the {{CLIPS Executive}} for Integrated Planning and Execution}
}
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