1. Towards a general theory of action and time
2. A Temporal Logic for Reasoning about Processes and Plans*
3. Reasoning about Change, (MIT, Cambridge, MA., 1988).
4. Readings on Qualitative Reasoning about Physical Systems, edited by and (Morgan Kaufmann, Los Altos, CA, 1989).
5. and , “AI planning. A tutorial and review,” AIAI Tech. Rep., University of Edinburgh, 1987.