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A fundamental tradeoff in knowledge representation and reasoning, and . Readings in Knowledge Representation Morgan Kaufmann, (1985)Reasoning about Noisy Sensors and Effectors in the Situation Calculus, , and . Artificial Intelligence, 111 (1--2): 171--208 (1999)Knowledge Representation and Reasoning. Annual Review of Computer Science, (1986)All I know: a study in autoepistemic logic. Artificial Intelligence, 43 (2--3): 263--309 (1990)GSAT: A New Method for Solving Hard Satisifability Problems, , and . Proc.\ 10th National Conference on Artificial Intelligence, page 440--446. San Jose, CA, (1992)GOLOG: A Logic Programming Language for Dynamic Domains, , , , and . Journal of Logic Programming, Special issue on Reasoning about Action and Change, (1997)