Performance based task assignment in multi-robot patrolling. Pippin, C., Christensen, H., & Weiss, L. In Proceedings of the 28th Annual ACM Symposium on Applied Computing, pages 70–76, 2013. ACM.
bibtex   
@inproceedings{pippin2013performance,
 author = {Pippin, C. and Christensen, H. and Weiss, L.},
 booktitle = {Proceedings of the 28th Annual ACM Symposium on
Applied Computing},
 organization = {ACM},
 pages = {70--76},
 title = {Performance based task assignment in multi-robot
patrolling},
 type = {Conference},
 year = {2013}
}

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