Stuart, C. (1985). Synchronization of Multiagent Plans Using A Temporal Logic Theorem Prover. SRI INTERNATIONAL MENLO PARK CA.
Following an approach suggested by Georgeff, this paper considers the use of synchronizing primitives to resolve conflicts and produce a plan that is as unrestrictive as possible. In a sense, the whole planning problem is to find actions that interact in such a way that the plan achieves its goal; in fact, it can be shown that certain general planning problems may be framed and solved as conflict resolution problems.