1. Strips: A new approach to the application of theorem proving to problem solving
2. “Achieving several goals simultaneously,” in Machine Intelligence 8, and (Eds.), Ellis Horwood, 1977, pp. 94–136;
3. also in Readings in Artificial Intelligence, and (Eds.), Tioga Publishing, Palo Alto, CA, 1981.
4. A Structure for Plans and Behavior, American Elsevier Publishing Company, Inc., 1977.
5. Project Planning Using a Hierarchic Non-Linear Planner, University of Edinburgh AI Dept. Memo. No. 25, 1975.