James F. Allen, Henry A. Kautz, Richard N. Pelavin, and Josh
D. Tenenberg,  <I>Reasoning about plans,</I> Morgan Kaufmann, San Mateo,
CA, 1991.
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This collective monograph describes several versions of  interval
temporal logic (i.e., a logic in which knowledge about time is
represented by using time intervals as a basic notion) and their use
in actions planning. 
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Maria Beltran