Algorithm 5. Explore Pseudocode.

if Status = Dispersing then

Disperse;

else

if Wandering Rate triggers then

LocateOpenArea;

else

Get the current AvoidingPastAngle and AvoidingObstacleAngle;

//This is to do smoother turning reactions with larger distances towards obstacles;

if Distance to Nearest Obstacle in Front < Aware of Obstacles Distance then

DrivingSpeedFactor = DistancetoNearestObstacleinFront/AwareofObstacleDistance;

else

DrivingSpeedFactor = 0;

end

DrivingSpeed = DrivingGain * MaxDrivingSpeed * (1 − DrivingSpeedFactor);

//Here is the fusion (weighted summation) for simultaneous obstacles and past avoidance;

SteeringSpeed = SteeringGain * ((AvoidingPastAngle * AvoidPastGain + AvoidingObstacleAngle * AvoidObstaclesGain)/2);

Ensure driving and steering velocities are within max and min possible values;

Set the driving and steering velocities;

end

if m robots near then

Status = Dispersing

end

end