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3-consistency abstract action agent analogy Artificial Intelligence assumption axioms behaviour belief circumscription clauses Cognitive complete complex nodes Computer concept condition consistent constraint satisfaction problem constraints constructive negation context model counterfactual DATR DATR0 decision tree declarative program default inferences defined definition DePlan domain dynamic environment example Figure forced paths formulas function gazing genetic algorithm given graph higher-level goals implementation instance interval Kahney knowledge base label Logic Programming mapping match minimal model theory negation as failure neural Neural Networks nextstate notion operators paper partial evaluation population preconditions predicate preference rule problem procedural program procedure proof propagation proposition prototype theory range reasoning recursion relations relationships representation represented robot satisfies schema semantics simulation sinusoidal solving specific state-space structure subgoals suppressed premises symbols theorem theory extension tion truth maintenance systems values variables worldstate