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Reference:
Optimizing Waypoints for Monitoring Spatiotemporal Phenomena J. Binney, A. Krause, G. S. SukhatmeIn International Journal on Robotics Research (IJRR), volume 32, 2013
Bibtex Entry:
@article{binney13optimizing,
	author = {Jon Binney and Andreas Krause and Gaurav S. Sukhatme},
	doi = {10.1177/0278364913488427},
	journal = {International Journal on Robotics Research (IJRR)},
	number = {8},
	pages = {873-888},
	title = {Optimizing Waypoints for Monitoring Spatiotemporal Phenomena},
	volume = {32},
	year = {2013}}