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In this paper we present a hierarchical multi-rate control architecture for nonlinear autonomous systems operating in partially observable environments.
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J. Chen, H. Wang, M. Rubenstein, and H. Kress-Gazit, “Automatic control synthesis for swarm robots from formation and location-based high-level specifications,” in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2020, pp. 8027–8034
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