@article{zhang2021game,
  title={Game tree search for minimizing detectability and maximizing visibility},
  author={Zhang, Zhongshun and Smereka, Jonathon M and Lee, Joseph and Zhou, Lifeng and Sung, Yoonchang and Tokekar, Pratap},
  journal={Autonomous Robots},
  pages={1--15},
  year={2021},
  publisher={Springer}
}