@article{meyer2019tac,
  title={Hierarchical decomposition of LTL synthesis problem for nonlinear control systems},
  author={Meyer, Pierre-Jean and Dimarogonas, Dimos V},
  journal={IEEE Transactions on Automatic Control},
  volume={64},
  number={11},
  pages={4676--4683},
  year={2019},
  publisher={IEEE}
}