# An Optimal Task Allocation Approach for Large-Scale Multiple Robotic Systems With Hierarchical Framework and Resource Constraints

> Research article (IEEE Systems Journal, 2017) · cited 25× · AI/ML

**Wikidata**: [openalex:W2770316064](https://www.wikidata.org/wiki/openalex:W2770316064)  
**Source**: https://4ort.xyz/entity/an-optimal-task-allocation-approach-for-large-scale-multiple-robotic-systems-with-hierarchical-framework-and-resource-co