@PhdThesis{thesisRMJ03,
  author = 	 {Jensen, R.~M.},
  title = 	 {Efficient BDD-Based Planning for Non-Deterministic, 
                  Fault-Tolerant, and Adversarial Domains},
  school = 	 {Carnegie Mellon University},
  year = 	 2003,
  key =		 {CMU-CS-03-139},
  month =	 {June}
}