Gazebo Implementation - https://github.com/ashish-kb/gtsp_gazebo/tree/master/src main file -> "multiple_goal_publisher_multiple_robots.py"**
Algorithms for Visibility-Based Monitoring with Robot Teams - https://github.com/ashish-kb/watchman_route/tree/master/auto_target_code main file -> "solveMulti_GTSP_noon_bean.m". This is the code for our paper submitted to TRO 2016.
Videos 1 https://www.youtube.com/watch?v=lvUyoFZBqxA&index=12&list=PLB0JNoFPXhUEy6VpVd32q8GGVgbSc9d3F