Radu Siminiceanu Rick W. Butler César A. Muñoz Experimental Evaluation of a Planning Language Suitable for Formal Verification. 132-146 2008 MoChArt http://dx.doi.org/10.1007/978-3-642-00431-5_9 conf/mochart/2008 db/conf/mochart/mochart2008.html#SiminiceanuBM08