F. . S. Khoshaba, “Initial and Target Nodes Planning for Multi Mobile Robots”, J. eng. sustain. dev., vol. 15, no. 4, pp. 61–76, Dec. 2011, Accessed: May 12, 2025. [Online]. Available: https://jeasd.uomustansiriyah.edu.iq/index.php/jeasd/article/view/1308