@conference{62276,
  author = {Stephen Balakirsky and Christopher Scrapper and Elena Messina},
  title = {Hierarchical Control and Performance Evaluation of Multi-Vehicle Autonomous Systems},
  year = {2005},
  month = {2005-05-04},
  publisher = {Proceedings},
  url = {https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823546},
  language = {en},
}