The "Group Formation" model from "Supervisory control theory applied to swarm robotics" by Yuri K. Lopes · Stefan M. Trenkwalder ·
André B. Leal · Tony J. Dodd · Roderich Groß, see figures 10 and 11. Supremica's monolithic supervisor has the exact same
number of states (138) and transitions (561) as quoted for the non-minimized monolithic supervisor in Table 2. But note that
Supremica's modular supervisors have in total (meaning the sum) 42 states and 146 transitions, which cam be compared with
the "best" result in Table 2 "Local modular" with 79 states and 452 transitions. Synchronizing Supremica's modular supervisors with
the plant gives the exact same numbers of states and transitions as the monolithic supervisor.