# The boundary node method for <scp>multi‐robot multi‐goal</scp> path planning problems

> Research article (Expert Systems, 2021) · cited 18× · AI/ML

**Wikidata**: [openalex:W3180243400](https://www.wikidata.org/wiki/openalex:W3180243400)  
**Source**: https://4ort.xyz/entity/the-boundary-node-method-for-scp-multirobot-multigoal-scp-path-planning-problems