The paper Systematic Nonlinear Planning (published in the Proceedings of the Ninth National Conference on Artificial Intelligence (AAAI-91) won the AAAI-10 classic paper award. The commentary by Daniel S. Weld describes the two major impacts the paper had on the field of automated planning.See also:Commentary by Dan WeldAn Introduction to Least Commitment Planning, Daniel S. Weld, AI Magazine, Vol 15, No 4 Proc. AAAI-91, Vol. 2, pp. 634–639

Artificial Intelligence, 35 (3). 287-310.

Truth maintenance systems have been used in several recent problem solving systems to record justifications for deduced assertions, to track down the assumptions which underlie contradictions when they arise, and to incrementally modify assertional data structures when assumptions are retracted. A TMS algorithm is described here that is substantially different from previous systems. This algorithm performs deduction in traditional propositional logic in such a way that the premise set from which deduction is being done can be easily manipulated. A novel approach is also taken to the role of a TMS in larger deductive systems. In this approach the TMS performs all propositional deduction in a uniform manner while the larger system is responsible for controlling the instantiation of universally quantified formulae and axiom schemas.