@article{probabilisticcontrolofheterogeneousswarm,
  title = {Probabilistic Control of Heterogeneous Swarms Subject to Graph Temporal Logic Specifications: A Decentralized and Scalable Approach},
  author = {Franck Djeumou and Zhe Xu and Murat Cubuktepe and Ufuk Topcu},
  year = {2021},
  eprint = {2106.15729},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2106.15729v1},
}