Alexander Nareyek Eugene C. Freuder Robert Fourer Enrico Giunchiglia Robert P. Goldman Henry A. Kautz Jussi Rintanen Austin Tate 62-72 2005 20 IEEE Intelligent Systems 2 http://doi.ieeecomputersociety.org/10.1109/MIS.2005.25 db/journals/expert/expert20.html#NareyekFFGGKRT05