# A Novel Graph-Based Motion Planner of Multi-Mobile Robot Systems With Formation and Obstacle Constraints

> Research article (IEEE Transactions on Robotics, 2023) · cited 32× · AI/ML

**Wikidata**: [openalex:W4389370886](https://www.wikidata.org/wiki/openalex:W4389370886)  
**Source**: https://4ort.xyz/entity/a-novel-graph-based-motion-planner-of-multi-mobile-robot-systems-with-formation-and-obstacle-constraints