@INPROCEEDINGS{ACC14_Hetero,
author={P. Twu, Y. Mostofi, and M. Egerstedt},
journal={Proceedings of American Control Conference (ACC)},
title={A Measure of Heterogeneity in Multi-Agent Systems},
year={2014},
month={June},
volume={},
number={},
pages={3972-3977},
address={Portland, OR},
keywords={},
doi={},
ISSN={},}