@inproceedings{guo2016hybrid2,
  title={Hybrid control of multi-robot systems using embedded graph grammars},
  author={Guo, Meng and Egerstedt, Magnus and Dimarogonas, Dimos V},
  booktitle={2016 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={5242--5247},
  year={2016},
  organization={IEEE}
}