# Robust circumnavigation of a heterogeneous multi-agent system

> Research article (Autonomous Robots, 2021) · cited 10× · AI/ML

**Wikidata**: [openalex:W3123754556](https://www.wikidata.org/wiki/openalex:W3123754556)  
**Source**: https://4ort.xyz/entity/robust-circumnavigation-of-a-heterogeneous-multi-agent-system