Marco Benedetti Luigia Carlucci Aiello SAT-Based Cooperative Planning: A Proposal. 494-513 2005 conf/birthday/2005siekmann Mechanizing Mathematical Reasoning http://springerlink.metapress.com/openurl.asp?genre=article&id=TDXETPPUT4F33BQX db/conf/birthday/siekmann2005.html#BenedettiA05