@inproceedings{guo2015bottom,
  title={Bottom-up motion and task coordination for loosely-coupled multi-agent systems with dependent local tasks},
  author={Guo, Meng and Dimarogonas, Dimos V},
  booktitle={2015 IEEE International Conference on Automation Science and Engineering (CASE)},
  pages={348--355},
  year={2015},
  organization={IEEE}
}