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![PDF] STP: Skills, tactics, and plays for multi-robot control in adversarial environments | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/149a748f024abbe0024cb3631ddd7e813b453be0/6-Figure4-1.png "PDF] STP: Skills, tactics, and plays for multi-robot control in adversarial environments | Semantic Scholar")