# Intractability of Time-Optimal Multirobot Path Planning on 2D Grid Graphs with Holes

> Research article (IEEE Robotics and Automation Letters, 2017) · cited 62× · AI/ML

**Wikidata**: [openalex:W2627004156](https://www.wikidata.org/wiki/openalex:W2627004156)  
**Source**: https://4ort.xyz/entity/intractability-of-time-optimal-multirobot-path-planning-on-2d-grid-graphs-with-holes