@misc{cladera2023enabling,
  title={Enabling Large-scale Heterogeneous Collaboration with Opportunistic Communications},
  author={Fernando Cladera and Zachary Ravichandran and Ian D. Miller and M. Ani Hsieh and C. J. Taylor and Vijay Kumar},
  year={2023},
  eprint={2309.15975},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2309.15975}
}