Scalable and Robust Algorithms for Task-Based Coordination From High-Level Specifications (ScRATCHeS). - Kevin Leahy 001; Zachary Serlin; Cristian-Ioan Vasile; Andrew Schoer; Austin M. Jones; Roberto Tron; Calin Belta (IEEE Trans. Robotics, 2022)

Control Barrier Function Toolbox: An Extensible Framework for Provable Safety. - Andrew Schoer; Helena Teixeira-Dasilva; Christian So; Makai Mann; Roberto Tron (NFM, 2024)