@article{demir2015decentralized,
  title={Decentralized probabilistic density control of autonomous swarms with safety constraints},
  author={Demir, Nazl{\i} and Eren, Utku and A\c{c}\i kme\c{s}e, Beh\c{c}et},
  journal={Autonomous Robots},
  volume={39},
  number={4},
  pages={537--554},
  year={2015},
  publisher={Springer US}
}

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