Chapman's paper, ``Planning for Conjunctive Goals,'' has been widely acknowledged for its contribution toward understanding the nature of nonlinear (partial-order) planning, and it has been one of the bases of later work by others---but it is not free of problems. This paper addresses some problems involving modal truth and the Modal Truth Criterion (MTC). Our results are as follows:
Subbarao Kambhampati, Dana S. Nau