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Guarding a Circular Target By Patrolling its Perimeter:

, In: 2020 59th IEEE Conference on Decision and Control (CDC),
Von Moll, Alexander ; Pachter, Meir ; Shishika, Daigo. - p. 1658-1665 , 2020
Link: https://doi.org/10.1109/CDC42340.2020.9304018