Fikes, Richard E., Hart, P. E. and Nilsson, Nils J. 1972. “Learning and Executing Generalized Robot Plans.”Artificial Intelligence 3(1–3): 251–288. Reprinted in Webber and Nilsson (1981, 231–249).
Further References
Webber, Bonnie Lynn and Nilsson, Nils J., eds. 1981. Readings in Artificial Intelligence. San Francisco, California: Morgan Kaufmann Publishers.