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Comparative redistribution results for 19 robots after the exclusion of 1 robot. (a) Exclusion of a robot, leading to a coverage gap. (b) Redistribution using the adjacent-neighbors-based approach, resulting in uneven workload distribution. (c) Initial propagation stage of the proposed method, where imbalances start to be addressed. (d) Final propagation stage of the proposed method, achieving an evenly distributed workload.
