@InBook{JV99,
  author =	 {Jensen,R.~M. and Veloso, M.~M.},
  editor =	 {Wooldrige, M.~J. and Veloso, M.},
  title = 	 {Artificial Intelligence Today, Recent Trends and Developments},
  chapter = 	 {OBDD-based Universal Planning: Specifying and Solving Planning Problems for
                  Synchronized Agents in Non-Deterministic Domains},
  publisher = 	 {Springer-Verlag},
  year = 	 1999,
  pages =	 {212-248}
}