# A Discrete Event Formulation for Multi-Robot Collision Avoidance on Pre-planned Trajectories

> Research article (IEEE Access, 2020) · cited 12× · AI/ML

**Wikidata**: [openalex:W3024594310](https://www.wikidata.org/wiki/openalex:W3024594310)  
**Source**: https://4ort.xyz/entity/a-discrete-event-formulation-for-multi-robot-collision-avoidance-on-pre-planned-trajectories