Bernd Schattenberg Steffen Balzer Susanne Biundo Knowledge-based Middleware as an Architecture for Planning and Scheduling Systems. 422-425 2006 conf/aips/2006 ICAPS db/conf/aips/icaps2006.html#SchattenbergBB06 http://www.aaai.org/Library/ICAPS/2006/icaps06-056.php