@article{oneringtorulethemallconstraineddistribut,
  title = {One Ring to Rule Them All: Constrained Distributional Control for Massive-Scale Heterogeneous Robotic Ensemble Systems},
  author = {Andres Arias and Wei Zhang and Haoyu Qian and Jr-Shin Li and Chuangchuang Sun},
  year = {2025},
  eprint = {2512.04502},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2512.04502},
}