@phdthesis{robinson:2012,
  author = {Nathan Robinson},
  title = {{Advancing Planning-as-Satisfiability ({PhD} Thesis)}},
  school = {Griffith University},
  type = {PhD},
  year = {2012}
  keywords = {Satisfiability, action encodings, automated planning, control knowledge,
              cost-optimal, planning-as-sat, splitting},
  file = {http://nathanrobinson.info/publications/PhD_Robinson_2012.pdf}
}