@article{amodelbasedframeworkforlearning,
  title = {A model-based framework for learning transparent swarm behaviors},
  author = {Mario Coppola and Jian Guo and Eberhard Gill and Guido C. H. E. de Croon},
  year = {2021},
  eprint = {2103.05343},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.05343v1},
}