Achieving while maintaining: A logic of knowing how with intermediate   constraints
  In this paper, we propose a ternary knowing how operator to express that the agent knows how to achieve $\phi$ given $\psi$ while maintaining $\chi$ in-between. It generalizes the logic of goal-directed knowing how proposed by Yanjing Wang 2015 'A logic of knowing how'. We give a sound and complete axiomatization of this logic. 
Yanjun Li and Yanjing Wang
cs.LO