David Vallejo Paolo Remagnino Dorothy Ndedi Monekosso Luis Jiménez Carlos Gonzalez-Morcillo A Multi-agent Architecture for Multi-robot Surveillance. 266-278 2009 ICCCI http://dx.doi.org/10.1007/978-3-642-04441-0_23 conf/iccci/2009 db/conf/iccci/iccci2009.html#VallejoRMJG09