@article{guo2016task,
  title={Task and motion coordination for heterogeneous multiagent systems with loosely coupled local tasks},
  author={Guo, Meng and Dimarogonas, Dimos V},
  journal={IEEE Transactions on Automation Science and Engineering},
  volume={14},
  number={2},
  pages={797--808},
  year={2016},
  publisher={IEEE}
}