Planning for opportunistic surveillance with multiple robots,

D.Thakur, M. Likhachev, J. Keller, V. Kumar, V. Dobrokhodov, K. Jones, J. Wurz, and I. Kaminer, “Planning for opportunistic surveillance with multiple robots,” in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013, pp. 5750-5757.