# Optimal role and position assignment in multi-robot freely reachable formations

> Research article (Automatica, 2017) · cited 29× · AI/ML

**Wikidata**: [openalex:W2606237903](https://www.wikidata.org/wiki/openalex:W2606237903)  
**Source**: https://4ort.xyz/entity/optimal-role-and-position-assignment-in-multi-robot-freely-reachable-formations