@article{choraltraversalawareplanningforsafeandef,
  title = {CHORAL: Traversal-Aware Planning for Safe and Efficient Heterogeneous Multi-Robot Routing},
  author = {David Morilla-Cabello and Eduardo Montijano},
  year = {2026},
  eprint = {2601.10340},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2601.10340},
}