Patrolling is generally classified as either regular or adversarial patrolling. Regular patrolling aims to periodically visit important locations so that the duration between visits to locations is minimized. Regular patrolling, however, is typically deterministic. In the presence of an adversary which is able to observe the patrollers’ behavior before deciding on a plan for intrusion, deterministic patrolling allows an intruder to invade a location when it knows that patrollers will be elsewhere. Adversarial patrolling addresses this problem by using stochastic strategies that resist the intruder’s ability to learn and predict the patrollers’ actions.

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Rohan Patil, Alexander Langley, and Henrik Christensen, "Scaling up multi-agent patrolling in urban environments," Proc. SPIE 12544, Open Architecture/Open Business Model Net-Centric Systems and Defense Transformation 2023, 125440G (Presented at SPIE Defense + Commercial Sensing: May 03, 2023; Published: 12 June 2023); https://doi.org/10.1117/12.2663719.