Talita Menezes Patricia Azevedo Tedesco Geber Ramalho Negotiator Agents for the Patrolling Task. 48-57 2006 conf/iberamia/2006 IBERAMIA-SBIA http://dx.doi.org/10.1007/11874850_9 db/conf/iberamia/iberamia2006.html#MenezesTR06