Franchi, A Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society; Max Planck Institute for Biological Cybernetics, Max Planck Society;
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6122514 (Publisher version)
Pasqualetti, F., Franchi, A., & Bullo, F. (2012). On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms. IEEE Transaction on Robotics, 28(3), 592-606. doi:10.1109/TRO.2011.2179580.