Michael Gelfond Answer Set Programming and the Design of Deliberative Agents. 19-26 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3132&spage=19 2004 conf/iclp/2004 ICLP db/conf/iclp/iclp2004.html#Gelfond04