@article{3dmultirobotpatrollingwithatwolevel,
  title = {3D Multi-Robot Patrolling with a Two-Level Coordination Strategy},
  author = {Luigi Freda and Mario Gianni and Fiora Pirri and Abel Gawel and Renaud Dube and Roland Siegwart and Cesar Cadena},
  year = {2019},
  eprint = {1906.09591},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1906.09591v1},
}