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AnsProlog* is designed to plan without control knowledge. We show how temporal, procedural and HTN-based control knowledge can be incorporated into AnsProlog* by the modular addition of a small number of domain-dependent rules, without the need to modify the planner. We formally prove the correctness of our planner, both in the absence and presence of the control knowledge. Finally, we perform some initial experimentation that demonstrates the potential reduction in planning time that can be achieved when procedural domain knowledge is used to solve planning problems with large plan length.<\/jats:p>","DOI":"10.1145\/1183278.1183279","type":"journal-article","created":{"date-parts":[[2007,1,16]],"date-time":"2007-01-16T19:38:29Z","timestamp":1168976309000},"page":"613-657","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":30,"title":["Domain-dependent knowledge in answer set planning"],"prefix":"10.1145","volume":"7","author":[{"given":"Tran Cao","family":"Son","sequence":"first","affiliation":[{"name":"New Mexico State University, Las Cruces, NM"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chitta","family":"Baral","sequence":"additional","affiliation":[{"name":"Arizona State University, Tempe, AZ"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nam","family":"Tran","sequence":"additional","affiliation":[{"name":"Arizona State University, Tempe, AZ"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sheila","family":"Mcilraith","sequence":"additional","affiliation":[{"name":"University of Toronto, Toronto, Ont., Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2006,10]]},"reference":[{"key":"e_1_2_2_1_1","unstructured":"Babovich Y. and Lifschitz V. 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