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This paper presents a decentralized hybrid supervisory control approach for two unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower helicopters are abstracted to finite state machines. Then, a discrete supervisor is designed in a modular way for different components of the formation mission. Furthermore, a formal technique is developed to design the local supervisors decentralizedly, so that thedoi:10.1109/acc.2014.6858770 dblp:conf/amcc/KarimoddiniK014 fatcat:7vrtzqq4xrgqxjh7sq5gusgu2y