# Security-Preserving Multi-Robot Path Planning for Boolean Specification Tasks Using Labeled Petri Nets

> Research article (IEEE Control Systems Letters, 2023) · cited 10× · AI/ML

**Wikidata**: [openalex:W4379780965](https://www.wikidata.org/wiki/openalex:W4379780965)  
**Source**: https://4ort.xyz/entity/security-preserving-multi-robot-path-planning-for-boolean-specification-tasks-using-labeled-petri-nets