1. A method of determining a leader's strategy for a security domain, the method comprising: formulating a leader's policy; formulating an optimization problem the follower solves to find its optimal response to the leader's policy; maximizing the payoff of the leader, given that the follower uses an optimal response that is function of the leader's policy, and formulating the problem as mixed-integer quadratic problem (MIQP); reformulating the leader payoff problem to a mixed-integer linear program (MILP); solving the MILP; and directing a patrolling strategy of an agent within the security domain based on the solved MILP.