Luca Iocchi Thomas Lukasiewicz Daniele Nardi Riccardo Rosati Reasoning about actions with sensing under qualitative and probabilistic uncertainty. 2009 10 ACM Trans. Comput. Log. 1 http://doi.acm.org/10.1145/1459010.1459015 db/journals/tocl/tocl10.html#IocchiLNR09