Deepak Mallya Arpita Sinha Leena Vachhani Priority Patrol With a Single Agent - Bounds and Approximations. 1321-1326 2023 7 IEEE Control. Syst. Lett. https://doi.org/10.1109/LCSYS.2022.3232773 db/journals/csysl/csysl7.html#MallyaSV23