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The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that maximizes their chances of detecting an adversary trying to penetrate through the patrol path. When facing a strong adversary that knows the patrol strategy of the robots, if the robots use a deterministic patrol algorithm, then in many cases it is easy fordoi:10.1613/jair.3365 arXiv:1401.3903v1 fatcat:sa6a2lmhwzajvpnneem3hbggym