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The Connectivity Constrained UGV Surveillance Problem (CUSP) considered in this paper is the following. Given a set of surveillance UGVs and an area with obstacles that is to be covered, find waypoint-paths such that; 1) the area is completely surveyed, 2) the time for performing the search is minimized and 3) the induced information graph is kept recurrently connected. It has previously been shown...
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