# Contribution to the path planning of a multi-robot system: centralized architecture

> Research article (Intelligent Service Robotics, 2019) · cited 44× · AI/ML

**Wikidata**: [openalex:W2990165285](https://www.wikidata.org/wiki/openalex:W2990165285)  
**Source**: https://4ort.xyz/entity/contribution-to-the-path-planning-of-a-multi-robot-system-centralized-architecture