David Portugal, Rui P. Rocha. Multi-robot patrolling algorithms: examining performance and scalability. Advanced Robotics, 27(5):325-336, 2013. [doi]
@article{PortugalR13,
title = {Multi-robot patrolling algorithms: examining performance and scalability},
author = {David Portugal and Rui P. Rocha},
year = {2013},
doi = {10.1080/01691864.2013.763722},
url = {http://dx.doi.org/10.1080/01691864.2013.763722},
researchr = {https://researchr.org/publication/PortugalR13},
cites = {0},
citedby = {0},
journal = {Advanced Robotics},
volume = {27},
number = {5},
pages = {325-336},
}