Ohlbach, Hans Jürgen Programming Logics, MPI for Informatics, Max Planck Society;
https://rdcu.be/dsZzA (Publisher version)
Ohlbach, H. J. (1993). Optimized Translation of Multi Modal Logic into Predicate Logic. In A. Voronkov (Ed.), Proceedings of the 4th International Conference on Logic Programming and Automated Reasoning (LPAR'93) (pp. 253-264). Berlin, Germany: Springer.