Christopher D. Hsu Mulugeta A. Haile Pratik Chaudhari A Model for Multi-Agent Heterogeneous Interaction Problems. 4637-4644 2024 ACC https://doi.org/10.23919/ACC60939.2024.10644600 conf/amcc/2024 db/conf/amcc/acc2024.html#HsuHC24 streams/conf/amcc