# Decentralized Multi-Agent Planning Using Model Predictive Control and Time-Aware Safe Corridors

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 46× · AI/ML

**Wikidata**: [openalex:W4293246004](https://www.wikidata.org/wiki/openalex:W4293246004)  
**Source**: https://4ort.xyz/entity/decentralized-multi-agent-planning-using-model-predictive-control-and-time-aware-safe-corridors