@article {RV10,
author = "K.Y. Rozier and M.Y. Vardi",
title = "{LTL} Satisfiability Checking",
journal = "International Journal on Software Tools for 
Technology Transfer (STTT)",
volume = "12",
number = "2",
publisher = "Springer-Verlag",
pages = "123 - 137",
month = "March",
year = "2010",
doi = "DOI 10.1007/s10009-010-0140-3",
url = "http://dx.doi.org/10.1007/s10009-010-0140-3",
}