Yaniv Oshart Noa Agmon Sarit Kraus Non-Uniform Policies for Multi-Robot Asymmetric Perimeter Patrol in Adversarial Domains - EXTENDED ABSTRACT. 136-138 2019 MRS https://doi.org/10.1109/MRS.2019.8901080 conf/mrs/2019 db/conf/mrs/mrs2019.html#OshartAK19