# Spare zone based hierarchical motion coordination for multi-AGV systems

> Research article (Simulation Modelling Practice and Theory, 2021) · cited 15× · AI/ML

**Wikidata**: [openalex:W3132439079](https://www.wikidata.org/wiki/openalex:W3132439079)  
**Source**: https://4ort.xyz/entity/spare-zone-based-hierarchical-motion-coordination-for-multi-agv-systems