# Hierarchical multi-robot navigation and formation in unknown environments via deep reinforcement learning and distributed optimization

> Research article (Robotics and Computer-Integrated Manufacturing, 2023) · cited 46× · AI/ML

**Wikidata**: [openalex:W4362594060](https://www.wikidata.org/wiki/openalex:W4362594060)  
**Source**: https://4ort.xyz/entity/hierarchical-multi-robot-navigation-and-formation-in-unknown-environments-via-deep-reinforcement-learning-and-distribute