Noa Agmon Sarit Kraus Gal A. Kaminka Vladimir Sadov Adversarial Uncertainty in Multi-Robot Patrol. 1811-1817 2009 IJCAI http://ijcai.org/papers09/Papers/IJCAI09-301.pdf conf/ijcai/2009 db/conf/ijcai/ijcai2009.html#AgmonKKS09