Enhanced Particle Swarm Optimisation for Multi-Robot Path Planning with Bezier Curve Smoothing. - Yi-Ler Poy; Zhi-Yu Loke; Shalini Darmaraju; Choon-Hian Goh; Ban-Hoe Kwan; Haipeng Liu 001; Danny Wee-Kiat Ng (Robotics, 2024)