T.  Fabbri, Nardi, S., Isgrò, L., Pallottino, L., and Caiti, A., ?Assessing the Potential of Autonomous Multi-agent Surveillance in Asset Protection from Underwater Threats?, in International Workshop on Modelling and Simulation for Autonomous Systems  MESAS 2016, Rome, Italy, June 15-16, 2016, 2016, vol. 9991 of the book series Lecture Notes in Computer Science (LNCS), pp. 204 - 213 [Online]. Available: http://link.springer.com/chapter/10.1007/978-3-319-47605-6_17