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S. Castro, Koehler, S., and Kress-Gazit, H., High-level control of modular robots, in EEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 3120-3125.
G. E. Fainekos, Kress-Gazit, H., and Pappas, G. J., Hybrid Controllers for Path Planning: A Temporal Logic Approach, in Proceedings of the 44th IEEE Conference on Decision and Control, 2005, pp. 4885 - 4890.