formation is a little more than the desired radius of 1. This is because of the inaccuracies
in the estimated threshold y.
-1 0
X Coordinate
-1 0
X Coordinate
-1 0
X Coordinate
1 2
1 2
1 2
-1 0
X Coordinate
-1 0
X Coordinate
-1 0
X Coordinate
Figure 3.3 Spreading of robots over a circular region. A) Initial position of robots. B D)
Spreading of robots. E and F) Robots reaching the boundary and the group
getting stabilized.
A
K-I
B
/ .
/ 4
./
C
S *
I *
D
*. '
S* : .
\ /
1 2
1 2
1 2
E
* /e
** *
S.._ .. .
/1
./
*