@article{guo2016hybrid,
  title={Hybrid control of multiagent systems with contingent temporal tasks and prescribed formation constraints},
  author={Guo, Meng and Bechlioulis, Charalampos P and Kyriakopoulos, Kostas J and Dimarogonas, Dimos V},
  journal={IEEE Transactions on Control of Network Systems},
  volume={4},
  number={4},
  pages={781--792},
  year={2016},
  publisher={IEEE}
}