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If $\mathbf{C}$ is a category with pullbacks then there is a bicategory with the same objects as $\mathbf{C}$, spans as morphisms, and maps of spans as 2-morphisms, as shown by Benabou.
J. Bénabou, Introduction to bicategories, in Reports of the Midwest Category Seminar
1967
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R. W. Brockett, Control theory and analytical mechanics, The 1976 Ames Research Center (NASA) Conference on Geometric Control Theory (Moffett Field, Calif.)
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S. Mac Lane, Categories for the Working Mathematician
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M. Grandis and R. Pare, Limits in double categories, Cahiers de Topologie et Géométrie Différentielle Catégoriques
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S. Lack, Limits for lax morphisms, Applied Categorical Structures
2005
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R. Rosebrugh, N. Sabadini and R. F. C. Walters, Generic commutative separable algebras and cospans of graphs, Theory Appl. Categ.,
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T. Fiore, Pseudo algebras and pseudo double categories, Journal of Homotopy and Related Structures
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2015
Cited alongside, same era.
J. C. Baez, B. Coya and F. Rebro, Props in circuit theory, in preparation
Cited in the paper.
Cited in the paper.
J. C. Baez and B. Pollard, A compositional framework for chemical reaction networks, in preparation
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A. Hoffnung, Spans in 2-categories: a monoidal tricategory. Available as arXiv:1112.0560
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Cited in the paper.
M. Shulman, Constructing symmetric monoidal bicategories. Available as arXiv:1004.0993
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M. Stay, Compact closed bicategories. Available as arXiv:1301.1053
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B. Fong, Decorated cospans, Theory and Applications of Categories
2015
Later among the works it cites.
J. C. Baez, B. Fong and B. Pollard, A compositional framework for Markov processes, Jour. Math. Phys
2016
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2016
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