Suppose you want to create a 24x24 pixel icon. Create a 24x24 px canvas (use the Document Preferences) and set the grid to 0.5 px (48x48 gridlines). Now, if you align filled objects to even gridlines, and stroked objects to odd gridlines with the stroke width in px being an even number, and export it at the default 90dpi (so that 1 px becomes 1 bitmap pixel), you get a crisp bitmap image without unneeded antialiasing.
I get the part about setting up the grid to .5, but I am drawing a blank when it says to align filled objects to an even number and stroke to an odd number. Is there an example of this somewhere?