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Comparative redistribution results for 19 robots after the exclusion of 1 robot. (a) Exclusion of a robot, creating a coverage gap. (b) Redistribution using the adjacent-neighbors-based approach, resulting in imbalanced workload distribution. (c) Initial propagation stage of the proposed method, where redistribution begins. (d) Final propagation stage of the proposed method, achieving balanced workload distribution across all remaining robots.
