# An Efficient Ant Colony System for Multi-Robot Task Allocation with Large-scale Cooperative Tasks and Precedence Constraints

> Research article (2021 IEEE Symposium Series on Computational Intelligence (SSCI), 2021) · cited 16× · AI/ML

**Wikidata**: [openalex:W4206945455](https://www.wikidata.org/wiki/openalex:W4206945455)  
**Source**: https://4ort.xyz/entity/an-efficient-ant-colony-system-for-multi-robot-task-allocation-with-large-scale-cooperative-tasks-and-precedence-constra