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},
  category      = {Conference},
  organization  = {ACM},
  pages         = {70--76},
  title         = {Performance based task assignment in multi-robot patrolling},
  year          = 2013
}

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