Finding Optimal Routes for Multi-Robot Patrolling in Generic Graphs. Portugal, D., Pippin, C., Rocha, R. P., & Christensen, H. I. In IROS-2014, Chicago, IL, September, 2014. IEEE-RAS / RSJ.
bibtex   
@inproceedings{portugal14:findinoptimroutesmultirobot,
  address       = {Chicago, IL},
  author        = {David Portugal and Charles Pippin and Rui P. Rocha and Henrik Iskov Christensen},
  booktitle     = {IROS-2014},
  category      = {Conference},
  month         = sep,
  organization  = {IEEE-RAS / RSJ},
  pages         = {},
  title         = {Finding Optimal Routes for Multi-Robot Patrolling in Generic Graphs},
  year          = 2014
}

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