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Robot teams are very useful in patrol tasks, where the robots are required to repeatedly visit a target area in order to detect an adversary. In this work we examine the Fence Patrol problem, in which the robots must travel back and forth along an open polyline and the adversary is aware of the robots' patrol strategy. Previous work has suggested non-deterministic patrol schemes, characterized by a uniform policy along the entire area, guaranteeing that the minimal probability of penetrationdoi:10.1609/aaai.v34i06.6606 fatcat:e4padpegrjeyhordxe462o3qsu