0.5


 -1.5 -1 -0.5 0 0.5 1 1.5
 X Coordinate


Figure 3.4 Trajectories of the robots while spreading over the circle

 The various parameters used in the above simulation are listed in table 3.1. Note

that the unit length is assumed as one meter and unit time is assumed as one second.

Table 3 1 Parameters used in the snreading algorithm for circular region


Parameter Value

Number of robots 20

Radius of the circle 1 m

Number of iterations 40

Time step 0.03 s

Velocity of the robots 1 m/s