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A centroidal Voronoi tessellation based intelligent control algorithm for the self-assembly path planning of swarm robots

Hongxing Wei, Qiang Mao, Yong Guan, Yong-Dong Li. A centroidal Voronoi tessellation based intelligent control algorithm for the self-assembly path planning of swarm robots. Expert Syst. Appl., 85:261-269, 2017. [doi]

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