# Task allocation and trajectory planning for multiple agents in the presence of obstacle and connectivity constraints with mixed‐integer linear programming

> Research article (International Journal of Robust and Nonlinear Control, 2020) · cited 46× · AI/ML

**Wikidata**: [openalex:W3040228407](https://www.wikidata.org/wiki/openalex:W3040228407)  
**Source**: https://4ort.xyz/entity/task-allocation-and-trajectory-planning-for-multiple-agents-in-the-presence-of-obstacle-and-connectivity-constraints-wit