# Hierarchical Planning for Heterogeneous Multi-Robot Routing Problems via Learned Subteam Performance

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 21× · AI/ML

**Wikidata**: [openalex:W4210879033](https://www.wikidata.org/wiki/openalex:W4210879033)  
**Source**: https://4ort.xyz/entity/hierarchical-planning-for-heterogeneous-multi-robot-routing-problems-via-learned-subteam-performance