@inproceedings{penberthy1992ucpop,
  title={{UCPOP}: a sound, complete, partial order planner for {ADL}},
  author={Penberthy, J. Scott and Weld, Daniel S.},
  booktitle={Proceedings of the 3rd International Conference on Principles of Knowledge Representation and Reasoning},
  volume={92},
  pages={103--114},
  year={1992}
}