18
250
0
2000
150 -
00
,- o
S100- 0 0
50
0
10 20 30 40 50 60 70 80 90 100
Number of Robots
Figure 3.2 Empirical estimation of threshold
In figure 3.2, we can see that the variance of actual values from the approximation
increases as the number of robots increase. This can be attributed to the fact that the
simulation was run for the same number of iterations irrespective of the number of robots
and hence the accuracy of the estimated thresholds decreases as the number of robots
increase.
3.2.2 Algorithm Details
Let us assume that the amplitude of the received signal by ith robot from kth robot is
A,k. For a spherical propagation model, we have Aik = A/dk, where dik is the distance
between the ith and kth robots. From now on, it is assumed that A = 1 for simplicity. The