Common use of Phase 2 Clause in Contracts

Phase 2. Setting the circular flocking configuration This phase is a pre-processing phase for forming the final motion pattern. Starting from the final configuration of Algorithm 10.1 the curent phase reaches a circular flocking configuration as shown in Figure 6. The circular shape has the following caracteristics: Leader is inside the SEC (the one computed by Algorithm 10.1) and all the other robots are disposed on the SEC border. These robots are placed as follows: R1 is in the position SEC ∩ [O, Leader) and R2 is on the opposite side of the SEC. The other robots are disposed on the quarter of circle around

Phase 2. Setting the circular flocking configuration This phase is a pre-processing phase for forming the final motion pattern. Starting from the final configuration of Algorithm 10.1 the curent phase reaches a circular flocking configuration as shown in Figure 6. The circular shape has the following caracteristics: Leader is inside the SEC (the one computed by Algorithm 10.1) and all the other robots are disposed on the SEC border. These robots are placed as follows: R1 is in the position SEC ∩ [O, Leader) and R2 is on the opposite side of the SEC. The other robots are disposed on the quarter of circle aroundaround R2. In the following this configuration will be referred as circular flocking configuration (see Figure 6 for a nine robots example). R1 OLeader p1 p2 inria-00594380, version 1 - 20 May 2011 R2 p3 p4