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Figure

Fig. 1. A: Simple subsumption architecture depicting the flocking algorithm. The  first decision  results  in collision  avoidance, the second  decision  results  in  robot separation and the third decision  results in flock cohesion  and emergent alignmen
Fig. 2.  A: Screenshot of our  simulator with  a swarm  of 10 robots  (black  cubes)  in a small arena  with borders
Fig. 3.  A: Aggregation speed analysis  for all swarm  sizes and  all arena  sizes. We mea- sured  the median  time it took for an initially scattered robot  swarm to form an aggre- gation  of at least 60% of the whole swarm

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