CONNIVER was an outgrowth of PLANNER and microPLANNER a subset. PLASMA is a PLANNER-like system modelled on Actors. See also POPLER, QLISP, Scheme.
["PLANNER: A Language for Proving Theorems in Robots", Carl Hewitt, Proc IJCAI-69, Wash DC, May 1969].
This article (or an earlier version of it) contains material from FOLDOC, used with permission.