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TCWTP: Time-Constrained Weighted Targets Patrolling Mechani..:

Chang, Chih-Yung ; Chen, Guilin ; Yu, Gwo-Jong..
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  45 (2015)  6 - p. 901-914 , 2015
Link: https://doi.org/10.1109/tsmc.2014.2378212