# Structured triangulation in multi-robot systems: Coverage, patrolling, Voronoi partitions, and geodesic centers

> Research article (The International Journal of Robotics Research, 2016) · cited 31× · AI/ML

**Wikidata**: [openalex:W2280978071](https://www.wikidata.org/wiki/openalex:W2280978071)  
**Source**: https://4ort.xyz/entity/structured-triangulation-in-multi-robot-systems-coverage-patrolling-voronoi-partitions-and-geodesic-centers