Distributed on-line dynamic task assignment for multi-robot patrolling. Farinelli, A., Iocchi, L., & Nardi, D. Auton. Robots, 41(6):1321–1345, 2017.
bibtex   
@article{DBLP:journals/arobots/FarinelliIN17,
  author    = {Alessandro Farinelli and
               Luca Iocchi and
               Daniele Nardi},
  title     = {Distributed on-line dynamic task assignment for multi-robot patrolling},
  journal   = {Auton. Robots},
  volume    = {41},
  number    = {6},
  pages     = {1321--1345},
  year      = {2017}
}

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