# A BPMN-driven framework for Multi-Robot System development

> Research article (Robotics and Autonomous Systems, 2022) · cited 26× · AI/ML

**Wikidata**: [openalex:W4310860180](https://www.wikidata.org/wiki/openalex:W4310860180)  
**Source**: https://4ort.xyz/entity/a-bpmn-driven-framework-for-multi-robot-system-development