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Modelling a wireless connected swarm of mobile robots

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Figure

Fig. 2 Swarm with α = 5 (left) and α = 10 (right). Lines between robots indicate wirelessconnections.
Fig. 3 PFSM of the robot controller.represents theof robots in corresponding states andstate
Table 1 State transition probabilities, di represents the number of connections for roboti.
Figure 5 illustrates some of its neighbours, shown as robotpossibly triggerrobotto 2one time step (of durationintorobotA, robotB, robotC andD
+7

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