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Incorrect operation of a multi-robot system (MRS) may not only lead to unsatisfactory results, but it can also cause economic losses and jeopardize safety. These risks may not always be evident, since they may arise as unforeseen consequences of interactions between different components of the system. Thus, tools and techniques that can help in providing guarantees about the behavior of MRSs are on demand; whenever possible, these guarantees should be backed up by formal proofs complementingdoi:10.3389/frobt.2018.00094 pmid:33500973 pmcid:PMC7806004 fatcat:kvjlryeaxfb5phqpnukv7wpt5m