@article{
    RinHelNie2006:aij,
    author = {Rintanen, Jussi and Heljanko, Keijo and Niemel{\"a}, Ilkka},
    title = "Planning as Satisfiability: Parallel Plans and Algorithms for Plan Search",
    url = "http://dx.doi.org/10.1016/j.artint.2006.08.002",
    journal = "Artificial Intelligence",
    number = "12--13",
    volume = "170",
    flags = "ACPT,copy",
    year = "2006",
    pages = "1031--1080"
}