# SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments

> Research article (IEEE Robotics and Automation Letters, 2023) · cited 14× · AI/ML

**Wikidata**: [openalex:W4386432311](https://www.wikidata.org/wiki/openalex:W4386432311)  
**Source**: https://4ort.xyz/entity/smug-planner-a-safe-multi-goal-planner-for-mobile-robots-in-challenging-environments