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 author       = "M. Capiluppi and R. Segala",
 year         = "2012",
 title        = "Hybrid automata with worlds: A compositional approach to modeling objects that move in a complex environment",
 type         = "Technical Report",
 number       = "RR 87/2012",
 institution  = "Department of Computer Science, University of Verona",
)
@inproceedings(gandalf12,
 author       = "M. Capiluppi and R. Segala",
 year         = "2012",
 title        = "Modelling Implicit Communication in Multi-Agent Systems with Hybrid Input/Output Automata",
 booktitle    = "Third International Symposium on Games, Automata, Logics and Formal Verification (GandALF 2012)",
 publisher    = "Electronic Proceedings in Theoretical Computer Science (EPTCS)",
 doi          = "10.4204/EPTCS.96.1",
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 author       = "Y. Jin and Y. Liao and M.M. Polycarpou",
 year         = "2006",
 title        = "Balancing search and target response in cooperative unmanned aerial vehicle (UAV) teams",
 journal      = "IEEE Transactions on systems, man, and cybernetics",
 volume       = "38/3",
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 author       = "D.K Kaynar and N. Lynch and R. Segala and F. Vaandrager",
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 title        = "The Theory of Timed I/O Automata",
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 author       = "N. Lynch and R. Segala and F. Vaandrager",
 year         = "2003",
 title        = "Hybrid I/O automata",
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@inproceedings(adhs12,
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 year         = "2012",
 title        = "Distributed collision avoidance for autonomous vehicles: world automata representation",
 booktitle    = "4th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS)",
 doi          = "10.3182/20120606-3-NL-3011.00035",
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 author       = "S. Mitra and Y. Wang and N. Lynch and E. Feron",
 year         = "2003",
 title        = "Safety verification of model helicopter controller using hybrid input/output automata",
 editor       = "O. Maler and A. Pnueli",
 booktitle    = "Hybrid Systems: Computation and Control",
 series       = "Lecture Notes in Computer Science",
 volume       = "2623",
 publisher    = "Springer-Verlag, Berlin",
 pages        = "343--358",
 doi          = "10.1007/3-540-36580-X\_26",
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 author       = "C. Sonntag and R.R.H. Schiffelers and D.A. van Beek and J.E. Rooda and S. Engell",
 year         = "2009",
 title        = "Modeling and Simulation using the Compositional Interchange Format for Hybrid Systems",
 booktitle    = "MATHMOD 2009 - 6th Vienna International Conference on Mathematical Modelling",
 pages        = "640--650",
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 journal      = "IEEE Transactions on automatic control",
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@inproceedings(roadcontrol,
 author       = "J.L.M. Vrancken and J.H. van Schuppen and M.S. Soares and F. Ottenhof",
 year         = "2009",
 title        = "A hierarchical model and implementation architecture for road traffic control",
 booktitle    = "2009 IEEE International Conference on Systems, Man and Cybernetics",
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