Domain-dependent knowledge in answer set planning. Son, T. C., Baral, C., Tran, N., & Mcilraith, S. ACM Transactions on Computational Logic (TOCL), 7(4):613–657, ACM, 2006.
bibtex   
@article{son2006domain,
  title={Domain-dependent knowledge in answer set planning},
  author={Son, Tran Cao and Baral, Chitta and Tran, Nam and Mcilraith, Sheila},
  journal={ACM Transactions on Computational Logic (TOCL)},
  volume={7},
  number={4},
  pages={613--657},
  year={2006},
  publisher={ACM}
}
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