other regions. This is more visible in elongated star formation and wedge formation as

seen in figure 3.12C and D.


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1 2 -2


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Figure 3.11 Spreading of robots over a star shaped region. A) Initial position of robots. B)
 Robots spreading in a circular shape. C and D) Robots slowly reaching the
 edges. E and F) Refinement of the edges.


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