Automatic OBDD-Based Generation of Universal Plans in Non-Deterministic Domains. Cimatti, A., Roveri, M., & Traverso, P. In Proc. of AAAI, 1998.
bibtex   
@InProceedings{CRT98,
  Author         = {Cimatti, A. and Roveri, M. and Traverso, P.},
  Title          = {Automatic {OBDD}-{B}ased {G}eneration of {U}niversal
                   {P}lans in {N}on-{D}eterministic {D}omains},
  BookTitle      = {Proc. of AAAI},
  year           = 1998
}
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