Alessandro Cimatti Marco Roveri Piergiorgio Bertoli Conformant planning via symbolic model checking and heuristic search. 127-206 2004 159 Artif. Intell. 1-2 https://doi.org/10.1016/j.artint.2004.05.003 https://www.wikidata.org/entity/Q62041390 db/journals/ai/ai159.html#CimattiRB04