{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T16:07:31Z","timestamp":1784218051727,"version":"3.55.0"},"reference-count":31,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2024,1,26]],"date-time":"2024-01-26T00:00:00Z","timestamp":1706227200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2024,1,26]],"date-time":"2024-01-26T00:00:00Z","timestamp":1706227200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Discrete Event Dyn Syst"],"published-print":{"date-parts":[[2024,3]]},"DOI":"10.1007\/s10626-024-00393-3","type":"journal-article","created":{"date-parts":[[2024,1,26]],"date-time":"2024-01-26T12:02:13Z","timestamp":1706270533000},"page":"163-198","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["A modular synthesis approach for the coordination of multi-agent systems: the multiple team case"],"prefix":"10.1007","volume":"34","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2119-8565","authenticated-orcid":false,"given":"Marcelo","family":"Rosa","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jos\u00e9\u00a0E.\u00a0R.","family":"Cury","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fabio\u00a0L.","family":"Baldissera","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2024,1,26]]},"reference":[{"key":"393_CR1","doi-asserted-by":"crossref","unstructured":"Akesson K, Fabian M, Flordal H, Malik R (2006) Supremica - an integrated environment for verification, synthesis and simulation of discrete event systems. In: 2006 8th International workshop on discrete event systems. pp 384\u2013385","DOI":"10.1109\/WODES.2006.382401"},{"key":"393_CR2","doi-asserted-by":"crossref","unstructured":"Alves LVR, Martins LRR, Pena PN (2017) Ultrades-a library for modeling, analysis and control of discrete event systems. In: Proceedings of the 20th world congress of the international federation of automatic control. pp 5831\u20135836","DOI":"10.1016\/j.ifacol.2017.08.540"},{"issue":"3","key":"393_CR3","doi-asserted-by":"publisher","first-page":"605","DOI":"10.1109\/TAC.2009.2039237","volume":"55","author":"K Cai","year":"2010","unstructured":"Cai K, Wonham W (2010) Supervisor localization: a top-down approach to distributed control of discrete-event systems. IEEE Trans Autom Control 55(3):605\u2013618","journal-title":"IEEE Trans Autom Control"},{"key":"393_CR4","doi-asserted-by":"crossref","unstructured":"Cassandras CG, Lafortune S et al (2008) Introduction to discrete event systems, vol 2. Springer","DOI":"10.1007\/978-0-387-68612-7"},{"key":"393_CR5","unstructured":"Cormen TH, Leiserson CE, Rivest RL, Stein C (2009) Introduction to algorithms. MIT press"},{"key":"393_CR6","doi-asserted-by":"publisher","first-page":"103240","DOI":"10.1016\/j.robot.2019.07.010","volume":"121","author":"Y Deng","year":"2019","unstructured":"Deng Y, Hua Y, Napp N, Petersen K (2019) A compiler for scalable construction by the TERMES robot collective. Robot Auton Syst 121:103240. https:\/\/doi.org\/10.1016\/j.robot.2019.07.010","journal-title":"Robot Auton Syst"},{"key":"393_CR7","doi-asserted-by":"crossref","unstructured":"Gorodetski V, Kotenko I (2002) The multi-agent systems for computer network security assurance: frameworks and case studies. In: Proceedings - 2002 IEEE international conference on artificial intelligence systems, ICAIS 2002. pp 297\u2013302","DOI":"10.1109\/ICAIS.2002.1048117"},{"key":"393_CR8","doi-asserted-by":"publisher","unstructured":"Hill RC, Lafortune S (2017) Scaling the formal synthesis of supervisory control software for multiple robot systems. In: Proceedings of the American control conference (July 2018). pp 3840\u20133847. https:\/\/doi.org\/10.23919\/ACC.2017.7963543","DOI":"10.23919\/ACC.2017.7963543"},{"key":"393_CR9","doi-asserted-by":"publisher","unstructured":"Hua Y, Deng Y, Petersen K (2018) Robots building bridges, not walls. In: 2018 IEEE 3rd International workshops on foundations and applications of self* systems (FAS*W). IEEE, pp 154\u2013159. https:\/\/doi.org\/10.1109\/FAS-W.2018.00041","DOI":"10.1109\/FAS-W.2018.00041"},{"issue":"6","key":"393_CR10","doi-asserted-by":"publisher","first-page":"2056","DOI":"10.1109\/TSMC.2018.2795011","volume":"50","author":"T Jiao","year":"2020","unstructured":"Jiao T, Gan Y, Xiao G, Wonham WM (2020) Exploiting symmetry of discrete-event systems by relabeling and reconfiguration. IEEE Trans Syst Man Cybern Syst 50(6):2056\u20132067","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"key":"393_CR11","unstructured":"Koenig S, Kumar S (2017) A case for collaborative construction as testbed for cooperative multi-agent planning. In: Proceedings of the ICAPS-17 scheduling and planning applications workshop (SPARK)"},{"key":"393_CR12","doi-asserted-by":"publisher","unstructured":"Lam E, Stuckey PJ, Koenig S, Kumar TK (2020) Exact approaches to the multi-agent collective construction problem. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol 12333. LNCS, p 743\u2013758. https:\/\/doi.org\/10.1007\/978-3-030-58475-7_43","DOI":"10.1007\/978-3-030-58475-7_43"},{"key":"393_CR13","doi-asserted-by":"publisher","first-page":"108460","DOI":"10.1016\/j.automatica.2019.06.012","volume":"108","author":"Y Liu","year":"2019","unstructured":"Liu Y, Cai K, Li Z (2019) On scalable supervisory control of multi-agent discrete-event systems. Automatica 108:108460","journal-title":"Automatica"},{"issue":"2","key":"393_CR14","doi-asserted-by":"publisher","first-page":"279","DOI":"10.1017\/S0263574714000113","volume":"32","author":"N Napp","year":"2014","unstructured":"Napp N, Nagpal R (2014) Distributed amorphous ramp construction in unstructured environments. Robotica 32(2):279\u2013290. https:\/\/doi.org\/10.1017\/S0263574714000113","journal-title":"Robotica"},{"issue":"12","key":"393_CR15","doi-asserted-by":"publisher","first-page":"2803","DOI":"10.1109\/TAC.2009.2031730","volume":"54","author":"PN Pena","year":"2009","unstructured":"Pena PN, Cury JE, Lafortune S (2009) Verification of nonconflict of supervisors using abstractions. IEEE Trans Autom Control 54(12):2803\u20132815","journal-title":"IEEE Trans Autom Control"},{"key":"393_CR16","first-page":"257","volume":"7","author":"K Petersen","year":"2012","unstructured":"Petersen K, Nagpal R, Werfel J (2012) TERMES: an autonomous robotic system for three-dimensional collective construction. Robot Sci Syst 7:257\u2013264","journal-title":"Robot Sci Syst"},{"key":"393_CR17","doi-asserted-by":"crossref","unstructured":"Petersen KH, Napp N, Stuart-Smith R, Rus D, Kovac M (2019) A review of collective robotic construction. Sci Robot 4(28)","DOI":"10.1126\/scirobotics.aau8479"},{"issue":"4","key":"393_CR18","doi-asserted-by":"publisher","first-page":"375","DOI":"10.1007\/s10626-005-4058-y","volume":"15","author":"MH Queiroz","year":"2005","unstructured":"Queiroz MH, Cury JE, Wonham WM (2005) Multitasking supervisory control of discrete-event systems. Discrete Event Dyn Syst Theory Appl 15(4):375\u2013395","journal-title":"Discrete Event Dyn Syst Theory Appl"},{"key":"393_CR19","first-page":"81","volume":"77","author":"PJ Ramadge","year":"1989","unstructured":"Ramadge PJ, Wonham WM (1989) The control of discrete event systems. Discret Event Dyn Syst 77:81\u201398","journal-title":"Discret Event Dyn Syst"},{"issue":"2","key":"393_CR20","doi-asserted-by":"publisher","first-page":"634","DOI":"10.1137\/040610209","volume":"45","author":"K Rohloff","year":"2006","unstructured":"Rohloff K, Lafortune S (2006) The verification and control of interacting similar discrete-event systems. SIAM J Control Optim 45(2):634\u2013667. https:\/\/doi.org\/10.1137\/040610209","journal-title":"SIAM J Control Optim"},{"key":"393_CR21","doi-asserted-by":"crossref","unstructured":"Rosa M, Cury JER, Baldissera FL (2020) Supervisory control in construction robotics: in the quest for scalability and permissiveness. In: International workshop on discrete event systems. Rio de Janeiro, Brazil","DOI":"10.1016\/j.ifacol.2021.04.012"},{"key":"393_CR22","doi-asserted-by":"crossref","unstructured":"Rosa M, Cury JER, Baldissera FL (2022a) A formal modular synthesis approach for the coordination of multi-agent systems. In: International workshop on discrete event systems. Prague, Czech Republic","DOI":"10.1016\/j.ifacol.2022.10.337"},{"key":"393_CR23","unstructured":"Rosa M, Cury JER, Baldissera FL (2022b) A modular synthesis approach for the coordination of 3-d multi-robot construction systems with multiple team. Tech. rep., Departamento de Engenharia de Automa\u00e7\u00e3o e Sistemas, Universidade Federal de Santa Catarina. https:\/\/arquivos.ufsc.br\/d\/6cc16597514646669bb7\/"},{"key":"393_CR24","doi-asserted-by":"crossref","unstructured":"Sartoretti G, Wu Y, Paivine W, Kumar TKS, Koenig S, Choset H (2019) Distributed reinforcement learning for multi-robot decentralized collective construction. Springer Proceedings in Advanced Robotics, vol\u00a09. Springer International Publishing, Cham, pp 35\u201349","DOI":"10.1007\/978-3-030-05816-6_3"},{"issue":"2","key":"393_CR25","doi-asserted-by":"publisher","first-page":"405","DOI":"10.1109\/TCST.2008.924574","volume":"17","author":"KT Seow","year":"2009","unstructured":"Seow KT, Pham MT, Ma C, Yokoo M (2009) Coordination planning: applying control synthesis methods for a class of distributed agents. IEEE Trans Control Syst Technol 17(2):405\u2013415","journal-title":"IEEE Trans Control Syst Technol"},{"issue":"11","key":"393_CR26","doi-asserted-by":"publisher","first-page":"3502","DOI":"10.1016\/j.automatica.2013.08.007","volume":"49","author":"R Su","year":"2013","unstructured":"Su R (2013) Discrete-event modeling of multi-agent systems with broadcasting-based parallel composition. Automatica 49(11):3502\u20133506. https:\/\/doi.org\/10.1016\/j.automatica.2013.08.007","journal-title":"Automatica"},{"key":"393_CR27","doi-asserted-by":"publisher","first-page":"244","DOI":"10.1016\/j.automatica.2017.01.003","volume":"79","author":"R Su","year":"2017","unstructured":"Su R, Lennartson B (2017) Control protocol synthesis for multi-agent systems with similar actions instantiated from agent and requirement templates. Automatica 79:244\u2013255. https:\/\/doi.org\/10.1016\/j.automatica.2017.01.003","journal-title":"Automatica"},{"issue":"6172","key":"393_CR28","doi-asserted-by":"publisher","first-page":"754","DOI":"10.1126\/science.1245842","volume":"343","author":"J Werfel","year":"2014","unstructured":"Werfel J, Petersen K, Nagpal R (2014) Designing collective behavior in a termite-inspired robot construction team. Science 343(6172):754\u2013758","journal-title":"Science"},{"issue":"3","key":"393_CR29","doi-asserted-by":"publisher","first-page":"241","DOI":"10.1007\/BF01797154","volume":"6","author":"KC Wong","year":"1996","unstructured":"Wong KC, Wonham WM (1996) Hierarchical control of discrete-event systems. Discrete Event Dyn Syst 6(3):241\u2013273","journal-title":"Discrete Event Dyn Syst"},{"key":"393_CR30","unstructured":"Zhang Z (2001) Smart tct, an efficient algorithm for supervisory control design. PhD thesis. https:\/\/tspace.library.utoronto.ca\/handle\/1807\/15885"},{"key":"393_CR31","doi-asserted-by":"crossref","unstructured":"Zhang Z, Wonham WM (2002) Stct: an efficient algorithm for supervisory control design. In: Synthesis and control of discrete event systems. Springer, pp 77\u2013100","DOI":"10.1007\/978-1-4757-6656-1_5"}],"container-title":["Discrete Event Dynamic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10626-024-00393-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10626-024-00393-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10626-024-00393-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,18]],"date-time":"2024-02-18T23:08:01Z","timestamp":1708297681000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10626-024-00393-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,1,26]]},"references-count":31,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2024,3]]}},"alternative-id":["393"],"URL":"https:\/\/doi.org\/10.1007\/s10626-024-00393-3","relation":{},"ISSN":["0924-6703","1573-7594"],"issn-type":[{"value":"0924-6703","type":"print"},{"value":"1573-7594","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,1,26]]},"assertion":[{"value":"18 October 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 January 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 January 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}}]}}