Krzystof R. Apt, Principles of Constraint Programming. Cambridge University Press, 2003.
Rina Dechter, Constraint Processing. Morgan Kaufmann Publishers, 2003.
Kim Marriott and Peter J. Stuckey, Programming with Constraints. An Introduction. The MIT Press, 1998.
Thom Frühwirth and Slim Abdennadher, Essentials of Constraint Programming. Springer-Verlag, 2003.
Advanced Books
Philippe Baptiste, Claude Le Pape, and Wim Nuijten, Constraint-Based Scheduling: Applying Constraint Programming to Scheduling Problems. Kluwer Academic Publishers, 2001.
Francesca Rossi, Peter van Beek, and Toby Walsh, editors, Handbook of Constraint Programming. Elsevier, 2006.