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@InProceedings{icra07yehuda, 
  author = 	 {Yehuda Elmaliach and Noa Agmon and Gal A. Kaminka}, 
  title = 	 {Multi-Robot Area Patrol under Frequency Constraints}, 
  OPTcrossref =  {}, 
  OPTkey = 	 {}, 
  booktitle = ICRA-07, 
  OPTpages = 	 {In press}, 
  year = 	 {2007}, 
  abstract = {This paper discusses the problem of generating patrol paths for a 
team of mobile robots inside a designated target area. Patrolling 
requires an area to be visited repeatedly by the robot(s) in order 
to monitor its current state. First, we present frequency 
optimization criteria used for evaluation of patrol algorithms. We 
then present a patrol algorithm that guarantees maximal uniform 
frequency, i.e., each point in the target area is covered at the 
same optimal frequency. This solution is based on finding a circular 
path that visits all points in the area, while taking into account 
terrain directionality and velocity constraints. Robots are  
positioned uniformly along this path, using a second algorithm. 
Moreover, the solution is guaranteed to be robust in the sense that  
uniform frequency of the patrol is achieved as long as at least one  
robot works properly.}, 
  wwwnote = {}, 
  OPTeditor = 	 {}, 
  OPTvolume = 	 {}, 
  OPTnumber = 	 {}, 
  OPTseries = 	 {}, 
  OPTaddress = 	 {}, 
  OPTmonth = 	 {}, 
  OPTorganization = {}, 
  OPTpublisher = {}, 
  OPTannote = 	 {} 
}