@inproceedings{SAC-2010-PortugalR,
	author        = "David Portugal and Rui P. Rocha",
	booktitle     = "{Proceedings of the 25th Symposium on Applied Computing}",
	doi           = "10.1145/1774088.1774360",
	editor        = "Sung Y. Shin and Sascha Ossowski and Michael Schumacher and Mathew J. Palakal and Chih-Cheng Hung",
	isbn          = "978-1-60558-639-7",
	pages         = "1271--1276",
	publisher     = "{ACM}",
	title         = "{MSP algorithm: multi-robot patrolling based on territory allocation using balanced graph partitioning}",
	year          = 2010,
}