(:notitlegroup:) 

   @article{leahy2021iitchs,
    title     = {Scalable and Robust Algorithms for Task-based Coordination from High-level
                Specifications (ScRATCHeS)},
    author    = {K. Leahy and Z. Serlin and C.I Vasile and A. Schoer and R. Tron and C. Belta},
    journal   = {IEEE Transactions on Robotics (Submitted)},
    year      = {2021}}