Behavioral control for multi-robot perimeter patrol: A finite state automata approach. Marino, A., Parker, L., Antonelli, G., & Caccavale, F. In 2009 IEEE International Conference on Robotics and Automation, pages 831–836, 2009. IEEE.
bibtex   
@inproceedings{marino2009behavioral,
	title        = {Behavioral control for multi-robot perimeter patrol: A finite state automata approach},
	author       = {Marino, Alessandro and Parker, Lynne and Antonelli, Gianluca and Caccavale, Fabrizio},
	year         = 2009,
	booktitle    = {2009 IEEE International Conference on Robotics and Automation},
	pages        = {831--836},
	organization = {IEEE}
}

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