Swarm-GPT: Combining Large Language Models with Safe Motion Planning for Robot Choreography Design. - Aoran Jiao; Tanmay P. Patel; Sanjmi Khurana; Anna-Mariya Korol; Lukas Brunke; Vivek K. Adajania; Utku Culha; Siqi Zhou; Angela P. Schoellig (CoRR, 2023)