Patrick Doherty Joakim Gustafsson Lars Karlsson Jonas Kvarnström TAL: Temporal Action Logics Language Specification and Tutorial. 273-306 1998 2 Electron. Trans. Artif. Intell. http://www.ep.liu.se/ej/etai/1998/009/ db/journals/etai/etai2.html#DohertyGKK98