@inproceedings{robinson+etal:2008a,
  author    = {Nathan Robinson and
               Charles Gretton and
               Duc Nghia Pham and
               Abdul Sattar},
  title     = {A Compact and Efficient {SAT} Encoding for Planning},
  booktitle = {Proceedings of the 18th International Conference on Automated
               Planning and Scheduling, ICAPS 2008, Sydney, Australia, September 14-18, 2008},
  year      = {2008},
  pages     = {296-303},
  url       = {http://nathanrobinson.info/publications/ICAPS_2008_Robinson.pdf}
}