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Model source: Yuri K. Lopes, Stefan M. Trenkwalder, André B. Leal, Tony J. Dodd and Roderich Groß, "Supervisory control
theory applied to swarm robotics", Swarm Intelligence, volume 10, pages 65-97, 2016,
doi: https://doi.org/10.1007/s11721-016-0119-0.
