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Ben- Adar Bessos, Mai, Birnbach, Simon, Herzberg, Amir, Martinovic, Ivan.  2016.  Exposing Transmitters in Mobile Multi-Agent Games. Proceedings of the 2Nd ACM Workshop on Cyber-Physical Systems Security and Privacy. :125–136.

We study the trade-off between the benefits obtained by communication, vs. the risks due to exposure of the location of the transmitter. To study this problem, we introduce a game between two teams of mobile agents, the P-bots team and the E-bots team. The E-bots attempt to eavesdrop and collect information, while evading the P-bots; the P-bots attempt to prevent this by performing patrol and pursuit. The game models a typical use-case of micro-robots, i.e., their use for (industrial) espionage. We evaluate strategies for both teams, using analysis and simulations.