Table 1. Reference model RM 2.
Novelties are highlighted with respect to RM 1.1. They concern the ability to send and react to one bit of information. Vb is computed in the same way as V by restricting to broadcasting neighboring robots.
| Input | Value | Description |
|---|---|---|
| proxi∈{1,…,8} | [0,1] | reading of proximity sensor i |
| lighti∈{1,…,8} | [0,1] | reading of light sensor i |
| gndj∈{1,2,3} | {black, gray, white} | reading of ground sensor j |
| n | [0,19] | number of neighboring robots perceived |
| V | ([0.5, 20], [0, 2π]) | their relative aggregate position |
| b | [0,19] | number of messaging neighbors perceived |
| Vb | ([0.5, 20], [0, 2π]) | their relative aggregate position |
Notes.
Period of the control cycle: 100 ms.