Behavioral Control for Multi-Robot Perimeter Patrol: A Finite State Automata approach. Marino, A., Parker, L., Antonelli, G., & Caccavale, F. 2009.
doi  bibtex   
@conference{marino2009behavioral,
	year         = 2009,
	author       = {Marino, Alessandro and Parker, L. and Antonelli, Gianluca and Caccavale, F.},
	title        = {Behavioral Control for Multi-Robot Perimeter Patrol: A Finite State Automata approach},
	booktitle    = {Proceedings 2009 IEEE International Conference on Robotics and Automation},
	doi          = {10.1109/ROBOT.2009.5152710},
	pages        = {831--836}
}

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