Ensuring Task-Independent Safety for Multi-Agent Systems by Feedback. Wieland, P., Ebenbauer, C., & Allgöwer, F. In Proc.\ American Control Conf.\ (ACC), pages 3880-3885, New York City, NY, USA, 2007.
bibtex   
@INPROCEEDINGS{ist:wieland07a,
  author = {Wieland, P. and Ebenbauer, C. and Allg{\"o}wer, F.},
  title = {Ensuring Task-Independent Safety for Multi-Agent Systems by Feedback},
  booktitle = {Proc.\ American Control Conf.\ (ACC)},
  year = {2007},
  pages = {3880-3885},
  address = {New York City, NY, USA},
  pubtype = {proceeding}
}

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