@article {11573/1384593, title = {{A ROS-Based Framework for Simulation and Benchmarking of Multi-robot Patrolling Algorithms}}, volume = {{False}}, number = {{False}}, year = {2019}, pages = {3-28}, keywords = {Multi-robot patrol, ROS package, simulation}, {benchmarking}, doi = {{10.1007/978-3-319-91590-6\_1}}, author = {Portugal, D. and Iocchi, L. and Farinelli, A.} }