A. C. Nugraha, O. Wahyunggoro, and A. I. Cahyadi, “A Comparative Study of Three Multi-Objective Formulations for NSGA-II-Based Multi-Robot Path Planning”, Buletin Ilmiah Sarjana Teknik Elektro, vol. 8, no. 5, pp. 1324–1345, Sep. 2026.