Clark W. Barrett Leonardo Mendonça de Moura Aaron Stump Design and results of the 2nd annual satisfiability modulo theories competition (SMT-COMP 2006). 221-239 2007 31 Formal Methods in System Design 3 http://dx.doi.org/10.1007/s10703-007-0038-1 db/journals/fmsd/fmsd31.html#BarrettMS07