Multi-robot harbor patrolling: a probabilistic approach. Marino, A., Antonelli, G., Aguiar, A. P., & Pascoal, A. 2012.
bibtex   
@conference{marino2012multi-robot,
	year         = 2012,
	author       = {Marino, A. and Antonelli, Gianluca and Aguiar, A. P. and Pascoal, A.},
	title        = {Multi-robot harbor patrolling: a probabilistic approach},
	publisher    = {IEEE/RSJ},
	address      = {Vilamoura, PT},
	booktitle    = {2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
	isbn         = {{978-1-4673-1737-5}},
	pages        = {1760--1765}
}

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