Causal Theories of Action and Change

For many commonsense reasoning tasks associated with action domains, only a relatively simple kind of causal knowledge (previously studied by Geener and Lin) is required. We deene a mathematically simple language for expressing knowledge of this kind and describe a general approach to formalizing action domains in it. The language can be used to express ram-iication and qualiication constraints, explicit deeni-tions, concurrency, nondeterminism, and dynamic domains in which things change by themselves.