First-order progression for local-effect, normal, and acyclic actions is polynomial-sized and preserves decidable fragments such as two-variable logic.
Progres- sion and verification of situation calculus agents with bounded beliefs.Studia Logica, 104:705–739
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On the Size Complexity and Decidability of First-Order Progression
First-order progression for local-effect, normal, and acyclic actions is polynomial-sized and preserves decidable fragments such as two-variable logic.