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This work was supported by the Zhejiang Provincial Natural Science Foundation of China under Grant LZ24F030001, and the National Natural Science Foundation of China under Grants U23B2060 and 62173294. (Corresponding author: Ronghao Zheng
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Achieve efficient multi-robot coverage in complex, obstacle-filled environments by intelligently balancing workload across sub-regions using a Generalized Voronoi Graph.
