D.  Milutinovi?, Casbeer, D. W., and Pachter, M., ?Markov inequality rule for switching among time optimal controllers in a multiple vehicle intercept problem?, Automatica, vol. 87, p. 274--280, 2018.

D.  Milutinovi? and Lima, P., ?Modeling and Optimal Centralized Control of a Large-Size Robotic Population?, IEEE Transactions on Robotics, vol. 22, no. 6, pp. 1280-1285, 2006.