# Hierarchical Perception-Improving for Decentralized Multi-Robot Motion Planning in Complex Scenarios

> Research article (IEEE Transactions on Intelligent Transportation Systems, 2024) · cited 17× · AI/ML

**Wikidata**: [openalex:W4390492394](https://www.wikidata.org/wiki/openalex:W4390492394)  
**Source**: https://4ort.xyz/entity/hierarchical-perception-improving-for-decentralized-multi-robot-motion-planning-in-complex-scenarios