Temporal Logic Planning and Control of Robotic Swarms by Hierarchical Abstractions.

Marius Kloetzer Calin Belta Temporal Logic Planning and Control of Robotic Swarms by Hierarchical Abstractions. 320-330 2007 23 IEEE Transactions on Robotics 2 http://dx.doi.org/10.1109/TRO.2006.889492 db/journals/trob/trob23.html#KloetzerB07