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F.  Pasqualetti, Franchi, A., and Bullo, F., ?On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms?, IEEE Transaction on Robotics, vol. 28, pp. 592-606, 2012.\par \par J. W.  Durham, Franchi, A., and Bullo, F., ?Distributed Pursuit-Evasion without Mapping and Global Localization via Local Frontiers?, Autonomous Robots, vol. 32, pp. 81-95, 2012.\par \par A.  Franchi, Freda, L., Oriolo, G., and Vendittelli, M., ?The Sensor-based Random Graph Method for Cooperative Robot Exploration?, IEEE/ASME Transaction on Mechatronics, vol. 14, pp. 163-175, 2009.\par \par }