@inproceedings{FM-v1-1999-AlurEKKL,
	author        = "Rajeev Alur and Joel M. Esposito and M. Kim and Vijay Kumar and Insup Lee",
	booktitle     = "{Proceedings of the World Congress on Formal Methods in the Development of Computing Systems. Volume I}",
	doi           = "10.1007/3-540-48119-2_14",
	isbn          = "3-540-66587-0",
	pages         = "212--232",
	publisher     = "{Springer-Verlag}",
	series        = "{Lecture Notes in Computer Science}",
	title         = "{Formal Modeling and Analysis of Hybrid Systems: A Case Study in Multi-robot Coordination}",
	volume        = 1708,
	year          = 1999,
}