@article{balkan2015controller,
  title={Controller synthesis for mode-target games},
  author={Balkan, Ayca and Vardi, Moshe and Tabuada, Paulo},
  journal={IFAC-PapersOnLine},
  volume={48},
  number={27},
  pages={343--350},
  year={2015},
  publisher={Elsevier},
  url = {https://arxiv.org/pdf/1504.07702},
}

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