4.3 Collective target tracking of a stationary target with robots in star formation.........39

4.4 Collective target tracking of a moving target with robots in circular formation......40

5.1 Spreading Speed with the use of M sequence and rectangular grid antenna ..........46

5.2 Noise analysis with the use of M sequence and rectangular grid antenna ..............47

5.3 Designed environment and robots in W ebots .................................. ............... 50

5.4 B asic environm ent design ............................................... ............................. 51

5.5 Field values for the DESIREDCIRCLE node..................................................52

5.6 Field values for the ROBOT1 DifferentialWheels node........................................53

5.7 Webots simulation on spreading of robots...........................................................55