@Article{CaLeSeVa-RAL-2021,
    author    = {Cai, Mingyu and Leahy, Kevin and Serlin, Zachary and Vasile, Cristian Ioan},
    title     = {{Probabilistic Coordination of Heterogeneous Teams From Capability Temporal Logic Specifications}},
    month     = {April},
    year      = {2022},
    journal   = {IEEE Robotics and Automation Letters},
    volume    = {7},
    number    = {2},
    pages     = {1190--1197},
    note      = {\href{https://ieeexplore.ieee.org/document/9664260}{doi:10.1109/LRA.2021.3138766}}
}