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Minimalist Multi-Robot Clustering of Square Objects: New Strategies, Experiments, and Analysis

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Figure

Figure 3.1: Anatomy of iRobot Creates. Source : http://wwww.irobot.com
Figure 4.1: Flowchart showing the basic behavior.
Figure 5.1: Prying boxes away from the wall.
Figure 5.2 shows trajectories of both motion behaviors on the boundary after a bump or time out (the latter, only for the twisters.) Diggers move along curved arc to find a wall, while twisters keep going into the center region in which a box might be push
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