# A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints

> Research article (Sensors, 2019) · cited 34× · AI/ML

**Wikidata**: [openalex:W2942188143](https://www.wikidata.org/wiki/openalex:W2942188143)  
**Source**: https://4ort.xyz/entity/a-novel-cooperative-path-planning-for-multi-robot-persistent-coverage-with-obstacles-and-coverage-period-constraints