Wilkins, D. E., & Myers, K. L. (1995). A common knowledge representation for plan generation and reactive execution. Journal of Logic and Computation, 5(6), 731-761.
Abstract
This paper describes the ACT formalism, which is designed to encode the knowledge required to support both the generation of complex plans and reactive execution of those plans in dynamic environments. ACT is an heuristically adequate representation that is useful in practical applications and serves as an interlingua for Artificial Intelligence (AI) technologies in planning and reactive control. The design of the formalism is discussed and example uses from practical applications are presented. These applications show that the ACT representational constructs have reasonable computational properties as well as being adequately expressive.