{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,29]],"date-time":"2026-07-29T10:55:10Z","timestamp":1785322510226,"version":"3.55.0"},"reference-count":93,"publisher":"Maximum Academic Press","issue":"1","license":[{"start":{"date-parts":[[2013,9,4]],"date-time":"2013-09-04T00:00:00Z","timestamp":1378252800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The Knowledge Engineering Review"],"published-print":{"date-parts":[[2015,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Agent programming languages have often avoided the use of automated (first principles or hierarchical) planners in favour of predefined plan\/recipe libraries for computational efficiency reasons. This allows for very efficient agent reasoning cycles, but limits the autonomy and flexibility of the resulting agents, oftentimes with deleterious effects on the agent's performance. Planning agents can, for instance, synthesise a new plan to achieve a goal for which no predefined recipe worked, or plan to make viable the precondition of a recipe belonging to a goal being pursued. Recent work on integrating automated planning with belief-desire-intention (BDI)-style agent architectures has yielded a number of systems and programming languages that exploit the efficiency of standard BDI reasoning, as well as the flexibility of generating new recipes at runtime. In this paper, we survey these efforts and point out directions for future work.<\/jats:p>","DOI":"10.1017\/s0269888913000337","type":"journal-article","created":{"date-parts":[[2013,9,4]],"date-time":"2013-09-04T05:33:07Z","timestamp":1378272787000},"page":"1-44","source":"Crossref","is-referenced-by-count":39,"title":["Planning in BDI agents: a survey of the integration of planning algorithms and agent reasoning"],"prefix":"10.48130","volume":"30","author":[{"given":"Felipe","family":"Meneguzzi","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lavindra","family":"De Silva","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"27968","published-online":{"date-parts":[[2013,9,4]]},"reference":[{"key":"S0269888913000337_ref57","unstructured":"Meneguzzi F. , Luck M. 2008. Leveraging new plans in AgentSpeak(PL). In Proceedings of the Sixth Workshop on Declarative Agent Languages, Baldoni, M., Son, T. C., van Riemsdijk, M. B. & Winikoff, M. (eds). Springer, 63\u201378."},{"key":"S0269888913000337_ref55","doi-asserted-by":"publisher","DOI":"10.1016\/S0743-1066(96)00121-5"},{"key":"S0269888913000337_ref30","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4684-0357-2"},{"key":"S0269888913000337_ref47","unstructured":"Kambhampati S. , Mali A. , Srivastava B. 1998. Hybrid planning for partially hierarchical domains. In Proceedings of the Fifteenth National Conference on Artificial Intelligence, AAAI '98\/IAAI '98. Jack Mostow & Chuck Rich (eds). American Association for Artificial Intelligence, 882\u2013888."},{"key":"S0269888913000337_ref18","doi-asserted-by":"crossref","unstructured":"Dastani M. , van Riemsdijk B. , Dignum F. , Meyer J.-J. C. 2004. A programming language for cognitive agents goal directed 3APL. In Proceedings of the International Workshop on Programming Multiagent Systems Languages and Tools, Dastani, M., Dix, J. & Fallah-Seghrouchni, A. E. (eds). Lecture Notes in Computer Science, 3067, 111\u2013130. Springer-Verlag.","DOI":"10.1007\/978-3-540-25936-7_6"},{"key":"S0269888913000337_ref15","unstructured":"Busetta P. , R\u00f6nnquist R. , Hodgson A. , Lucas A. 1999. Jack Intelligent Agents\u2014Components for Intelligent Agents in Java. AgentLink Newsletter. White paper, http:\/\/www.agent-software.com.au."},{"key":"S0269888913000337_ref81","unstructured":"Singh D. , Sardina S. , Padgham L. , Airiau S. 2010. Learning context conditions for BDI plan selection. In Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1\u2014Volume 1, AAMAS '10, Alexander Ferrein, Nils T. Siebel & Gerald Steinbauer (eds). International Foundation for Autonomous Agents and Multiagent Systems, 325\u2013332."},{"key":"S0269888913000337_ref41","unstructured":"Howden N. , R\u00f6nnquist R. , Hodgson A. , Lucas A. 2001. Jack: summary of an agent infrastructure. In Proceedings of the 5th International Conference on Autonomous Agents, Montreal, Canada."},{"key":"S0269888913000337_ref14","volume-title":"Intention, Plans and Practical Reason","author":"Bratman","year":"1987"},{"key":"S0269888913000337_ref84","unstructured":"Sohrabi S. , Baier J. A. , McIlraith S. A. 2009. HTN planning with preferences. In Proceedings of the 21st International Joint Conference on Artificial Intelligence (IJCAI-09), Pasadena, CA, USA, 1790\u20131797."},{"key":"S0269888913000337_ref53","unstructured":"Laborie P. , Ghallab M. 1995. Planning with sharable resource constraints. In Proceedings of the International Joint Conference on Artificial Intelligence, Montr\u00e9al, Qu\u00e9bec, Canada, 1643\u20131651."},{"key":"S0269888913000337_ref77","doi-asserted-by":"crossref","unstructured":"Schut M. , Wooldridge M. , Parsons S. 2002. On partially observable MDPs and BDI models. In Selected Papers from the UKMAS Workshop on Foundations and Applications of Multi-Agent Systems, Mark d'Inverno, Michael Luck, Michael Fisher & Chris Preist (eds). Springer-Verlag, 243\u2013260.","DOI":"10.1007\/3-540-45634-1_15"},{"key":"S0269888913000337_ref2","unstructured":"Alami R. , Warnier M. , Guitton J. , Lemaignan S. , Sisbot E. A. 2011. When the robot considers the human\u2026 In Proceedings of the 15th International Symposium on Robotics Research, Flagstaff, Arizona, US."},{"key":"S0269888913000337_ref32","unstructured":"G\u00e4rdenfors P. 2003. Belief Revision, vol. 29, Cambridge Tracts in Theoretical Computer Science, Cambridge University Press."},{"key":"S0269888913000337_ref36","volume-title":"Automated Planning: Theory and Practice","author":"Ghallab","year":"2004"},{"key":"#cr-split#-S0269888913000337_ref38.2","unstructured":"13. (eds). Lecture Notes in Computer Science, 1986, 228-243. Springer-Verlag."},{"key":"S0269888913000337_ref44","doi-asserted-by":"crossref","unstructured":"Ingrand F. , Despouys O. 2001. Extending procedural reasoning toward robot actions planning. In Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, 9\u201310.","DOI":"10.1109\/ROBOT.2001.932522"},{"key":"S0269888913000337_ref19","doi-asserted-by":"publisher","DOI":"10.1007\/s10458-008-9036-y"},{"key":"S0269888913000337_ref51","doi-asserted-by":"publisher","DOI":"10.1007\/BF03037383"},{"key":"S0269888913000337_ref63","doi-asserted-by":"crossref","unstructured":"M\u00f3ra M. D. C. , Lopes J. G. P. , Vicari R. M. , Coelho H. 1999. BDI models and systems: bridging the gap. In Intelligent Agents V, Agent Theories, Architectures, and Languages, Fifth International Workshop, M\u00fcller, J. P., Singh, M. P. & Rao, A. S. (eds), Lecture Notes in Computer Science, 1555, 11\u201327. Springer-Verlag.","DOI":"10.1007\/3-540-49057-4_2"},{"key":"S0269888913000337_ref34","unstructured":"Georgeff M. P. , Ingrand F. F. 1989. Monitoring and control of spacecraft systems using procedural reasoning. In Proceedings of the Space Operations and Robotics Workshop, Houston, USA."},{"key":"S0269888913000337_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/BF00883931"},{"key":"S0269888913000337_ref79","volume-title":"Multiagent Systems: Algorithmic, Game-Theoretic, and Logical Foundations","author":"Shoham","year":"2010"},{"key":"S0269888913000337_ref69","doi-asserted-by":"crossref","unstructured":"Raja A. , Lesser V. 2004. Meta-level reasoning in deliberative agents. In Proceedings of the IEEE\/WIC\/ACM International Conference on Intelligent Agent Technology, Beijing, China, 141\u2013147.","DOI":"10.1109\/IAT.2004.1342936"},{"key":"S0269888913000337_ref46","first-page":"33","article-title":"An architecture for real-time reasoning and system control","volume":"7","author":"Ingrand","year":"1992","journal-title":"IEEE Expert, Knowledge-Based Diagnosis in Process Engineering"},{"key":"S0269888913000337_ref42","unstructured":"H\u00fcbner J. F. , Bordini R. H. , Wooldridge M. 2006a. Plan patterns for declarative goals in AgentSpeak. In Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems, Hakodate, Japan, 1291\u20131293."},{"key":"S0269888913000337_ref50","unstructured":"Kollingbaum M. 2005. Norm-Governed Practical Reasoning Agents. PhD thesis, University of Aberdeen."},{"key":"S0269888913000337_ref39","doi-asserted-by":"crossref","unstructured":"Hindriks K. V. , van Riemsdijk M. B. 2008. Satisfying maintenance goals. In Proceedings of the 5th International Conference on Declarative Agent Languages and Technologies V, DALT'07, Matteo Baldoni, Tran Cao Son, M. Birna van Riemsdijk & Michael Winikoff (eds). Springer-Verlag, 86\u2013103.","DOI":"10.1007\/978-3-540-77564-5_6"},{"key":"S0269888913000337_ref37","doi-asserted-by":"publisher","DOI":"10.1023\/A:1010084620690"},{"key":"S0269888913000337_ref4","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-61488-5"},{"key":"S0269888913000337_ref82","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2010.05.008"},{"key":"S0269888913000337_ref9","volume-title":"Dynamic Programming","author":"Bellman","year":"2003"},{"key":"S0269888913000337_ref29","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(71)90010-5"},{"key":"S0269888913000337_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(94)90062-0"},{"key":"S0269888913000337_ref31","unstructured":"Fritz C. , Baier J. A. , McIlraith S. A. 2008. ConGolog, Sin Trans: compiling ConGolog into basic action theories for planning and beyond. In Proceedings of the International Conference on Principles of Knowledge Representation and Reasoning (KR-08), Sydney, NSW, Australia, 600\u2013610."},{"key":"S0269888913000337_ref20","unstructured":"Dearden R. , Meuleau N. , Ramakrishnan S. , Smith D. E. , Washington R. 2002. Contingency planning for planetary rovers. In Proceedings of the Third International NASA Workshop on Planning & Scheduling for Space, Houston."},{"key":"S0269888913000337_ref68","doi-asserted-by":"crossref","unstructured":"Pokahr A. , Braubach L. , Lamersdorf W. 2005. Jadex: a BDI reasoning engine. In Multi-Agent Programming: Languages, Platforms and Applications, Bordini, R. H., Dastani, M., Dix, J. & Fallah-Seghrouchni, A. E. (eds). Springer-Verlag, 149\u2013174.","DOI":"10.1007\/0-387-26350-0_6"},{"key":"S0269888913000337_ref58","unstructured":"Meneguzzi F. , Luck M. 2009. Norm-based behaviour modification in BDI agents. In Proceedings of the Eighth International Conference on Autonomous Agents and Multiagent Systems, Budapest, Hungary, 177\u2013184."},{"key":"S0269888913000337_ref70","unstructured":"Rao A. S. , Georgeff M. P. 1995. BDI-agents: from theory to practice. In Proceedings of the First International Conference on Multiagent Systems, San Francisco, 312\u2013319."},{"key":"S0269888913000337_ref76","doi-asserted-by":"crossref","unstructured":"Schut M. , Wooldridge M. , Parsons S. 2001. Reasoning about intentions in uncertain domains. In Proceedings of the 6th European Conference on Symbolic and Quantitative Approaches to Reasoning with Uncertainty, ECSQARU '01, Benferhat, Salem & Besnard, Philippe (eds). Springer-Verlag, 84\u201395.","DOI":"10.1007\/3-540-44652-4_9"},{"key":"S0269888913000337_ref90","doi-asserted-by":"crossref","unstructured":"van Riemsdijk M. B. , Dastani M. , Meyer J.-J. C. 2005. Semantics of declarative goals in agent programming. In Proceedings of the Fourth International Joint Conference on Autonomous Agents and Multiagent Systems, Utrecht, The Netherlands, 133\u2013140.","DOI":"10.1145\/1082473.1082494"},{"key":"S0269888913000337_ref67","unstructured":"Paolucci M. , Kalp D. , Pannu A. , Shehory O. , Sycara K. 1999. A planning component for RETSINA agents. In Proceedings of the International Workshop on Agent Theories, Architectures, and Languages (ATAL-99), Orlando, Florida, USA, 147\u2013161."},{"key":"S0269888913000337_ref85","unstructured":"Srivastava S. , Immerman N. , Zilberstein S. 2009. Challenges in finding generalized plans. In Proceedings of the ICAPS Workshop on Generalized Planning: Macros, Loops, Domain Control, Thessaloniki, Greece."},{"key":"S0269888913000337_ref35","unstructured":"Ghallab M. , Hertzberg J. , Traverso P. 2002. Proceed ings of the Sixth International Conference on Artificial Intelligence Planning Systems, AAAI."},{"key":"S0269888913000337_ref13","doi-asserted-by":"crossref","unstructured":"Bordini R. H. , H\u00fcbner J. F. 2006. BDI agent programming in AgentSpeak Using Jason. In Proceedings of Computational Logic in Multi-Agent Systems, 6th International Workshop, Lecture Notes in Computer Science, 3900, 143\u2013164. Springer-Verlag.","DOI":"10.1007\/11750734_9"},{"key":"S0269888913000337_ref74","unstructured":"Sardi\u00f1a S. , de Silva L. , Padgham L. 2006. Hierarchical planning in BDI agent programming languages: a formal approach. In Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems, Hakodate, Japan, 1001\u20131008."},{"key":"S0269888913000337_ref93","unstructured":"Weisstein E. W. 1999. Mathworld: Power Set. MathWorld\u2013A Wolfram Web Resource. http:\/\/mathworld.wolfram.com\/PowerSet.html."},{"key":"S0269888913000337_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2008.11.011"},{"key":"S0269888913000337_ref62","unstructured":"Meuleau N. , Smith D. E. 2003. Optimal limited contingency planning. In Proceedings of the 19th Conference in Uncertainty in Artificial Intelligence, Acapulco, Mexico, 417\u2013426."},{"key":"S0269888913000337_ref8","unstructured":"Baier J. A. , Fritz C. , McIlraith S. A. 2007. Exploiting procedural domain control knowledge in state-of-the-art planners. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS-07), Providence, Rhode Island, US, 26\u201333."},{"key":"S0269888913000337_ref33","doi-asserted-by":"crossref","unstructured":"Georgeff M. , Pell B. , Pollack M. E. , Tambe M. , Wooldridge M. 1999. The belief-desire-intention model of agency. In Intelligent Agents V, M\u00fcller, J., Singh, M. P. & Rao, A. S. (eds), Lecture Notes in Computer Science, 1555, 1\u201310. Springer-Verlag.","DOI":"10.1007\/3-540-49057-4_1"},{"key":"S0269888913000337_ref60","doi-asserted-by":"crossref","unstructured":"Meneguzzi F. R. , Zorzo A. F. , M\u00f3ra M. D. C. 2004b. Propositional planning in BDI agents. In Proceedings of the 2004 ACM Symposium on Applied Computing. ACM Press, 58\u201363.","DOI":"10.1145\/967900.967916"},{"key":"S0269888913000337_ref10","first-page":"679","article-title":"A Markov decision process","volume":"6","author":"Bellman","year":"1957","journal-title":"Journal of Mathematical Mechanics"},{"key":"S0269888913000337_ref16","unstructured":"Cla\u00dfen J. , Eyerich P. , Lakemeyer G. , Nebel B. 2007. Towards an integration of Golog and planning. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI-07), Hyderabad, India, 1846\u20131851."},{"key":"S0269888913000337_ref21","doi-asserted-by":"crossref","unstructured":"Dekker A. , de Silva L. 2006. Investigating organisational structures with networks of planning agents. In Proceedings of the International Conference on Intelligent Agents, Web Technologies and Internet Commerce (IAWTIC-06), Sydney, Australia, 25\u201330.","DOI":"10.1109\/CIMCA.2006.136"},{"key":"S0269888913000337_ref27","doi-asserted-by":"crossref","unstructured":"d'Inverno M. , Kinny D. , Luck M. , Wooldridge M. 1998. A formal specification of dMARS. In Agent Theories, Architectures, and Languages, Singh, M. P., Rao, A. S. & Wooldridge, M. (eds), Lecture Notes in Computer Science, 1365, 155\u2013176. Springer-Verlag.","DOI":"10.1007\/BFb0026757"},{"key":"S0269888913000337_ref12","volume-title":"Programming Multi-Agent Systems in AgentSpeak using Jason","author":"Bordini","year":"2007"},{"key":"S0269888913000337_ref23","unstructured":"Despouys O. , Ingrand F. F. 1999. Propice-plan: toward a unified framework for planning and execution. In Proceedings of the 5th European Conference on Planning. Susanne Biundo & Maria Fox (eds). Springer-Verlag, 278\u2013293."},{"key":"S0269888913000337_ref22","first-page":"13","article-title":"A survey of research in distributed, continual planning","volume":"20","author":"desJardins","year":"1999","journal-title":"AI Magazine"},{"key":"S0269888913000337_ref49","doi-asserted-by":"crossref","unstructured":"K\u00f6hler J. , Nebel B. , Hoffmann J. , Dimopoulos Y. 1997. Extending planning graphs to an ADL subset. In Proceedings of the 4th European Conference on Planning, Steel, S. (ed.), Lecture Notes in Computer Science, 1348, 273\u2013285. Springer-Verlag.","DOI":"10.1007\/3-540-63912-8_92"},{"key":"S0269888913000337_ref65","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(94)00082-C"},{"key":"S0269888913000337_ref52","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2008.11.012"},{"key":"S0269888913000337_ref40","doi-asserted-by":"crossref","first-page":"253","DOI":"10.1613\/jair.855","article-title":"The FF planning system: fast plan generation through heuristic search","volume":"14","author":"Hoffmann","year":"2001","journal-title":"Journal of Artificial Intelligence Research"},{"key":"S0269888913000337_ref17","unstructured":"Clement B. J. , Durfee E. H. 1999. Theory for coordinating concurrent hierarchical planning agents using summary information. In Proceedings of the National Conference on Artificial Intelligence (AAAI-99), Orlando, Florida, US, 495\u2013502."},{"key":"S0269888913000337_ref56","unstructured":"Meneguzzi F. , Luck M. 2007. Composing high-level plans for declarative agent programming. In Proceedings of the Fifth Workshop on Declarative Agent Languages, Honolulu, Hawaii, US, 115\u2013130."},{"key":"S0269888913000337_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(96)00047-1"},{"key":"S0269888913000337_ref26","unstructured":"de Silva L. , Sardina S. , Padgham L. 2009. First principles planning in BDI systems. In Proceedings of the 8th International Conference on Autonomous Agents and Multiagent Systems\u2014Volume 2, AAMAS '09, Carles Sierra, Cristiano Castelfranchi, Keith S. Decker & Jaime Sim\u00e3o Sichman (eds). International Foundation for Autonomous Agents and Multiagent Systems, 1105\u20131112."},{"key":"S0269888913000337_ref45","doi-asserted-by":"crossref","unstructured":"Ingrand F. F. , Chatila R. , Alami R. , Robert F. 1996. PRS: a high level supervision and control language for autonomous mobile robots. In Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, USA, 43\u201349.","DOI":"10.1109\/ROBOT.1996.503571"},{"key":"S0269888913000337_ref78","doi-asserted-by":"publisher","DOI":"10.1017\/S0269888901000157"},{"key":"S0269888913000337_ref61","unstructured":"Meneguzzi F. , Tang Y. , Sycara K. , Parsons S. 2010. On representing planning domains under uncertainty. In The Fourth Annual Conference of the International Technology Alliance, London, UK."},{"key":"S0269888913000337_ref72","doi-asserted-by":"publisher","DOI":"10.1023\/B:AMAI.0000031197.13122.aa"},{"key":"S0269888913000337_ref71","doi-asserted-by":"crossref","unstructured":"Rao A. S. 1996. AgentSpeak(L): BDI agents speak out in a logical computable language. In Proceedings of the Seventh European Workshop on Modelling Autonomous Agents in a Multi-Agent World, W. V. de Velde & J. W. Perram (eds). Lecture Notes in Computer Science, 1038, 42\u201355. Springer-Verlag.","DOI":"10.1007\/BFb0031845"},{"key":"S0269888913000337_ref73","doi-asserted-by":"publisher","DOI":"10.1007\/s10458-010-9130-9"},{"key":"S0269888913000337_ref87","first-page":"165","article-title":"An efficient probabilistic context-free parsing algorithm that computes prefix probabilities","volume":"21","author":"Stolcke","year":"1995","journal-title":"Computational Linguistics"},{"key":"S0269888913000337_ref89","doi-asserted-by":"crossref","unstructured":"Thomas S. R. 1995. The PLACA agent programming language. In Intelligent Agents, Wooldridge, M. J. & Jennings, N. R. (eds), Lecture Notes in Computer Science, 890, 355\u2013370. Springer-Verlag.","DOI":"10.1007\/3-540-58855-8_23"},{"key":"S0269888913000337_ref86","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2010.10.006"},{"key":"S0269888913000337_ref64","unstructured":"Nau D. , Cao Y. , Lotem A. , Mu\u00f1oz-Avila H. 1999. SHOP: simple hierarchical ordered planner. In Proceedings of the 16th International Joint Conference on Artificial Intelligence, Thomas Dean (ed.). Morgan Kaufmann Publishers Inc., 968\u2013973."},{"key":"S0269888913000337_ref88","unstructured":"Tang Y. , Meneguzzi F. , Parsons S. , Sycara K. 2011. Probabilistic hierarchical planning over MDPs. In Proceedings of the Tenth International Conference on Autonomous Agents and Multiagent Systems, Taipei, Taiwan, 1143\u20131144."},{"key":"S0269888913000337_ref95","volume-title":"An Introduction to Multiagent Systems","author":"Wooldridge","year":"2002"},{"key":"S0269888913000337_ref92","unstructured":"Walczak A. , Braubach L. , Pokahr A. , Lamersdorf W. 2006. Augmenting BDI agents with deliberative planning techniques. In Proceedings of the Fifth International Workshop on Programming Multiagent Systems, Hakodate, Japan."},{"key":"S0269888913000337_ref24","unstructured":"de Silva L. , Dekker A. 2007. Planning with time limits in BDI agent programming languages. In Proceedings of Computing: The Australasian Theory Symposium (CATS-07), Ballarat, Victoria, Australia, 131\u2013139."},{"key":"S0269888913000337_ref59","unstructured":"Meneguzzi F. R. , Zorzo A. F. , Mora M. C. 2004a. Mapping mental states into propositional planning. In Proceedings of the Third International Joint Conference on Autonomous Agents and Multiagent Systems, New York, NY, US, 1514\u20131515."},{"key":"S0269888913000337_ref54","unstructured":"Lemai S. , Ingrand F. 2004. Interleaving temporal planning and execution in robotics domains. In Proceedings of the Nineteenth National Conference on Artificial Intelligence, McGuinness, D. L. & Ferguson, G. (eds). AAAI Press\/The MIT Press, 617\u2013622."},{"key":"S0269888913000337_ref48","unstructured":"Kautz H. , Selman B. 1996. Pushing the envelope: planning, propositional logic and stochastic search. In Proceedings of the Thirteenth National Conference on Artificial Intelligence and the Eighth Innovative Applications of Artificial Intelligence Conference, William J. Clancey & Daniel S. Weld (eds). AAAI Press\/MIT Press, 1194\u20131201."},{"key":"S0269888913000337_ref80","doi-asserted-by":"crossref","unstructured":"Simari G. I. , Parsons S. 2006. On the relationship between MDPs and the BDI architecture. In Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems, Hideyuki Nakashima, Michael P. Wellman, Gerhard Weiss & Peter Stone (eds). ACM, 1041\u20131048.","DOI":"10.1145\/1160633.1160818"},{"key":"S0269888913000337_ref43","doi-asserted-by":"crossref","unstructured":"H\u00fcbner J. F. , Bordini R. H. , Wooldridge M. 2006b. Programming declarative goals using plan patterns. In Proceedings of the Fourth Workshop on Declarative Agent Languages and Technologies, Baldoni, M. & Endriss, U. (eds), Lecture Notes in Computer Science, 4327, 123\u2013140. Springer-Verlag.","DOI":"10.1007\/11961536_9"},{"key":"S0269888913000337_ref91","unstructured":"Veloso M. M. , Pollack M. E. , Cox M. T. 1998. Rationale-based monitoring for planning in dynamic environments. In Proceedings of the International Conference on Artificial Intelligence Planning Systems (AIPS-98), Pittsburgh Pennsylvania, US, 171\u2013180."},{"key":"S0269888913000337_ref5","volume-title":"From Logic Programming to Prolog","author":"Apt","year":"1997"},{"key":"S0269888913000337_ref66","doi-asserted-by":"crossref","unstructured":"Panagiotidi S. , V\u00e1zquez-Salceda J. 2011. Towards practical normative agents: a framework and an implementation for norm-aware planning. In \u2018COIN@AAMAS&WI-IAT\u2019, Cranefield, S., van Riemsdijk, M. B., V\u00e1zquez-Salceda, J. & Noriega, P. (eds). Lecture Notes in Computer Science, 93\u2013109. Springer.","DOI":"10.1007\/978-3-642-35545-5_6"},{"key":"S0269888913000337_ref1","unstructured":"Alami R. , Warnier M. , Guitton J. , Lemaignan S. , Sisbot E. A. 2009. Planning and plan-execution for human-robot cooperative task achievement. In Proceedings of the 4th Workshop on Planning and Plan Execution for Real-World Systems, Thessaloniki, Greece."},{"key":"S0269888913000337_ref94","unstructured":"Winikoff M. , Padgham L. , Harland J. , Thangarajah J. 2002. Declarative & procedural goals in intelligent agent systems. In Proceedings of the Eighth International Conference on Principles and Knowledge Representation and Reasoning, Fensel, D., Giunchiglia, F., McGuinness, D. L. & Williams, M.-A. (eds). Morgan Kaufmann, 470\u2013481."},{"key":"S0269888913000337_ref25","doi-asserted-by":"crossref","unstructured":"de Silva L. , Padgham L. 2004. A comparison of BDI based real-time reasoning and HTN based planning. In Proceedings of the Australian Joint Conference on Artificial Intelligence (AI-04), Cairns, Australia, 1167\u20131173.","DOI":"10.1007\/978-3-540-30549-1_118"},{"key":"S0269888913000337_ref28","doi-asserted-by":"publisher","DOI":"10.1023\/B:AGNT.0000019688.11109.19"}],"container-title":["The Knowledge Engineering Review"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0269888913000337","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T14:41:59Z","timestamp":1767624119000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0269888913000337\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,9,4]]},"references-count":93,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2015,1]]}},"alternative-id":["S0269888913000337"],"URL":"https:\/\/doi.org\/10.1017\/s0269888913000337","relation":{},"ISSN":["0269-8889","1469-8005"],"issn-type":[{"value":"0269-8889","type":"print"},{"value":"1469-8005","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,9,4]]}}}