@inproceedings{robinson+etal:2009,
  author    = {Nathan Robinson and
               Charles Gretton and
               Duc Nghia Pham and
               Abdul Sattar},
  title     = {{SAT}-Based Parallel Planning Using a Split Representation of Actions},
  booktitle = {Proceedings of the 19th International Conference on Automated
               Planning and Scheduling, ICAPS 2009, Thessaloniki, Greece, September 19-23, 2009},
  year      = {2009},
  url       = {http://nathanrobinson.info/publications/ICAPS_2009_Robinson.pdf}
}