# Equitable persistent coverage of non-convex environments with graph-based planning

> Research article (The International Journal of Robotics Research, 2019) · cited 21× · AI/ML

**Wikidata**: [openalex:W2981079744](https://www.wikidata.org/wiki/openalex:W2981079744)  
**Source**: https://4ort.xyz/entity/equitable-persistent-coverage-of-non-convex-environments-with-graph-based-planning