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Comparative redistribution results for 19 robots in an environment with multiple segmented areas. (a) Exclusion of a robot, creating a coverage gap. (b) Redistribution using the adjacent-neighbors-based approach, leaving some robots overburdened. (c) Initial propagation of the proposed method, beginning to smooth out the imbalance. (d) Final propagation stage of the proposed method, resulting in an evenly distributed workload.
