# Probabilistic Control of Heterogeneous Swarms Subject to Graph Temporal Logic Specifications: A Decentralized and Scalable Approach

> Research article (IEEE Transactions on Automatic Control, 2022) · cited 13× · AI/ML

**Wikidata**: [openalex:W3176621594](https://www.wikidata.org/wiki/openalex:W3176621594)  
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