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Formal Composition of Robotic Systems as Contract Programs:

, In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Nakamura, Mason ; Svegliato, Justin ; Nashed, Samer B... - p. 6727-6732 , 2023
Link: https://doi.org/10.1109/IROS55552.2023.10342341