Robert Mattmüller Jussi Rintanen Planning for Temporally Extended Goals as Propositional Satisfiability. 1966- 2007 conf/ijcai/2007 IJCAI http://dli.iiit.ac.in/ijcai/IJCAI-2007/PDF/IJCAI07-317.pdf db/conf/ijcai/ijcai2007.html#MattmullerR07