A. Ricardo Morales Phan Huy Tu Tran Cao Son An Extension to Conformant Planning Using Logic Programming. 1991-1996 2007 conf/ijcai/2007 IJCAI http://dli.iiit.ac.in/ijcai/IJCAI-2007/PDF/IJCAI07-321.pdf db/conf/ijcai/ijcai2007.html#MoralesTS07