Sayyiduna Abdullah bin Abbas (may Allah be pleased with them both) said: If highway robbers kill and take property, they are to be killed and crucified; if they kill but do not take property, they are only to be killed; if they only take property and do not kill, their hands and feet are to be cut off on opposite sides; and if they only cause fear, neither taking property nor killing, they are to be exiled.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب السرقة / 17313