Garagnani, M.. 2004. Model-based Planning in Physical domains using SetGraphs. In: Frans Coenen; Alun Preece and Ann L. Macintosh, eds. Research and Development in Intelligent Systems XX: Proceedings of AI2003, the Twenty-third SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence. London: Springer, pp. 295-308. ISBN 9781852337803 [Book Section]