@article{multicapamultirobotconnectivityawarehier,
  title = {Multi-CAP: A Multi-Robot Connectivity-Aware Hierarchical Coverage Path Planning Algorithm for Unknown Environments},
  author = {Zongyuan Shen and Burhanuddin Shirose and Prasanna Sriganesh and Bhaskar Vundurthy and Howie Choset and Matthew Travers},
  year = {2025},
  eprint = {2509.14941},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.14941},
}