@inproceedings{hsieh2024ACC,
      title={Assuring Safety of Vision-Based Swarm Formation Control}, 
      author={Chiao Hsieh and Yubin Koh and Yangge Li and Sayan Mitra},
      year={2024},
      booktitle={In Proceedings of the American Control Conference (ACC'24)},
      address = {Toronto, ON, Canada} 
}