@inproceedings{luo2020behavior,
    title={Behavior mixing with minimum global and subgroup connectivity maintenance for large-scale multi-robot systems},
    author={Luo, Wenhao and Yi, Sha and Sycara, Katia},
    booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={9845--9851},
    year={2020},
    organization={IEEE}
}