# Cooperative Path Planning for Multiple Mobile Robots via HAFSA and an Expansion Logic Strategy

> Research article (Applied Sciences, 2019) · cited 13× · AI/ML

**Wikidata**: [openalex:W2917177303](https://www.wikidata.org/wiki/openalex:W2917177303)  
**Source**: https://4ort.xyz/entity/cooperative-path-planning-for-multiple-mobile-robots-via-hafsa-and-an-expansion-logic-strategy