# Toward Safer Navigation of Heterogeneous Mobile Robots in Distributed Scheme: A Novel Time-to-Collision-Based Method

> Research article (IEEE Transactions on Cybernetics, 2021) · cited 22× · AI/ML

**Wikidata**: [openalex:W3210854080](https://www.wikidata.org/wiki/openalex:W3210854080)  
**Source**: https://4ort.xyz/entity/toward-safer-navigation-of-heterogeneous-mobile-robots-in-distributed-scheme-a-novel-time-to-collision-based-method