... be false. Actions have a number of param-eters, as well as a precondition and effect, both ofwhich are logical formulas. When a planner tries toapply an action, it will first create an action ... withoutbeing changed by the action. Atoms are printed inboldface iff they contradict the goal.This plan can be read as a derivation tree that hasone node for each action instance in the plan, and anedge ... communicative goals as flaws that the plan must remedy. To this end,we add an atom cg(P ,a 1, ,a n) for each elementP (a 1, ,a n) of the communicative goal to the ini-tial state, and we add a corresponding...