# Multi-agent Path Planning Based on Conflict-Based Search (CBS) Variations for Heterogeneous Robots

> Research article (Journal of Intelligent & Robotic Systems, 2025) · cited 11× · AI/ML

**Wikidata**: [openalex:W4407555873](https://www.wikidata.org/wiki/openalex:W4407555873)  
**Source**: https://4ort.xyz/entity/multi-agent-path-planning-based-on-conflict-based-search-cbs-variations-for-heterogeneous-robots