Denise Draper Steve Hanks Daniel S. Weld A Probablistic Model of Action for Least-Commitment Planning with Information Gathering. 178-186 1994 conf/uai/1994 UAI http://rome.exp.sis.pitt.edu/UAI/Abstract.asp?articleID=502&proceedingID=10 db/conf/uai/uai1994.html#DraperHW94