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Computer Aided Formal Design of Swarm Robotics Algorithms

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Academic year: 2021

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Figure 1: Let us consider in (a) a configuration of the system where is the base, is the companion, and where visibility range are denoted as dotted circles
Figure 2: In situation (a), robot 8 will withdraw as it is too close to 3. Robot 10 can see 8 and 9, 3 is out of sight, and it may choose 8 as its target
Figure 3: Situation (c) is similar to Figure 2 (a) as 8 will withdraw but now it switches its light on (here in red).
Figure 4: The visible surroundings of a robot can be divided into several zones that characterize the situations it may encounter: need to follow a robot (Pursuit zone, width D ), high risk of immediate collision (Collision zone, radius D ) or possibly at
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