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Reasoning about plans., , , and . Morgan Kaufmann series in representation and reasoning Morgan Kaufmann, (1991)Hierarchical Wire Routing., and . IEEE Trans. Comput. Aided Des. Integr. Circuits Syst., 2 (4): 223-234 (1983)A formal logic of plans in temporally rich domains., and . Proc. IEEE, 74 (10): 1364-1382 (1986)Hierarchical channel router., and . Integr., 1 (1): 21-38 (1983)A Model for Concurrent Actions Having Temporal Extent., and . AAAI, page 246-250. Morgan Kaufmann, (1987)