VCST-RCP reduces multi-robot delivery fleet travel distance by 31% on average by routing packages through a Voronoi-constrained Steiner tree relay backbone rather than direct source-to-destination paths.
Gm-vpc: An algorithm for multi- robot coverage of known spaces using generalized voronoi partition,
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Relay-Based Coordination for Energy-Efficient Multi-Robot Pickup and Delivery
VCST-RCP reduces multi-robot delivery fleet travel distance by 31% on average by routing packages through a Voronoi-constrained Steiner tree relay backbone rather than direct source-to-destination paths.