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This work was partially supported by NSF grants IRI-8705184 and IRI-8905166.
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Schlipf, J.S. Formalizing a logic for logic programming. Ann Math Artif Intell 5, 279–302 (1992). https://doi.org/10.1007/BF01543479
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DOI: https://doi.org/10.1007/BF01543479