Éric Rutten, Lionel Marcé. An imperative language for task-level planning: Definition in temporal logic. AI in Engineering, 8(4):235-251, 1993. [doi]
@article{RuttenM93,
title = {An imperative language for task-level planning: Definition in temporal logic},
author = {Éric Rutten and Lionel Marcé},
year = {1993},
doi = {10.1016/0954-1810(93)90007-3},
url = {http://dx.doi.org/10.1016/0954-1810(93)90007-3},
tags = {logic},
researchr = {https://researchr.org/publication/RuttenM93},
cites = {0},
citedby = {0},
journal = {AI in Engineering},
volume = {8},
number = {4},
pages = {235-251},
}