# Toward Safe and Efficient Human–Swarm Collaboration: A Hierarchical Multi-Agent Pickup and Delivery Framework

> Research article (IEEE Transactions on Intelligent Vehicles, 2022) · cited 24× · AI/ML

**Wikidata**: [openalex:W4285160676](https://www.wikidata.org/wiki/openalex:W4285160676)  
**Source**: https://4ort.xyz/entity/toward-safe-and-efficient-humanswarm-collaboration-a-hierarchical-multi-agent-pickup-and-delivery-framework