Planning as satisfiability: parallel plans and algorithms for plan search

Reference:

Jussi Rintanen, Keijo Heljanko, and Ilkka Niemelä. Planning as satisfiability: parallel plans and algorithms for plan search. Artificial Intelligence, 170(12-13):1031–1080, 2006.

Suggested BibTeX entry:

@article{RinHelNie:AIJ06,
    author = {Jussi Rintanen and Keijo Heljanko and Ilkka Niemel{\"a}},
    journal = {Artificial Intelligence},
    number = {12-13},
    pages = {1031--1080},
    publisher = {Elsevier},
    title = {Planning as satisfiability: parallel plans and algorithms for plan search},
    volume = {170},
    year = {2006},
}