@InProceedings{AEK99, author={R.~Alur and J.~Esposito and M.~Kim and V.~Kumar and I.~Lee}, title="Formal Modeling and Analysis of Hybrid Systems: A Case Study in Multi-robot Coordination", booktitle="World Congress On Formal Methods (FM)", series={LNCS}, volume={1708}, pages="212-232", year=1999, month="September 20-24", address="Toulouse, France" }