@Article{JV00A,
  author = 	 {Jensen, R.M.  and Veloso, M. M.},
  title = 	 {OBDD-based Universal Planning for Synchronized Agents in 
                  Non-Deterministic Domains},
  journal = 	 {Journal of Artificial Intelligence Research},
  year = 	 2000,
  volume =	 13,
  pages =	 {189-226}
}