# Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning

> Research article (The International Journal of Robotics Research, 2016) · cited 106× · AI/ML

**Wikidata**: [openalex:W2136323427](https://www.wikidata.org/wiki/openalex:W2136323427)  
**Source**: https://4ort.xyz/entity/finding-a-needle-in-an-exponential-haystack-discrete-rrt-for-exploration-of-implicit-roadmaps-in-multi-robot-motion-plan