# Efficient Cooperation of Heterogeneous Robotic Agents: A Decentralized Framework

> Research article (IEEE Robotics & Automation Magazine, 2021) · cited 14× · AI/ML

**Wikidata**: [openalex:W3170619138](https://www.wikidata.org/wiki/openalex:W3170619138)  
**Source**: https://4ort.xyz/entity/efficient-cooperation-of-heterogeneous-robotic-agents-a-decentralized-framework