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.. De-lui, Coordination implicite : trois robots sortent d'un couloir exploré et se répartissent demanì eré equilibrée dans les trois couloirs qui s'offrentàoffrentà eux. Lesfrontì eres sont de couleur rouge, les robots de couleur bleu. Chaque robot se dirige vers lafrontì ere la plus proche, p.42

. En-haut, MinDist : tous les robots sont assignésassignésà la mêmefrontì ere ; en bas : avec l'affectation souhaitée : les robots sontégalementsontégalement répartis entre les deuxfrontì eres 43

.. Affectation-de-minpos, affectation gloutonne (` a droite) sur l'environnementécurievironnementécurie . Lesfì eches (en ligne pleine) illustrent l'affectation, celles en pointillé montrent lesdeuxì emesfrontì eres pour lesquelles les robots sont en pre-mì ere position, p.50

. Gerkey, dans le sens de lecture) : une section d'hôpital (de Player/Stage)), des bureaux, un labyrinthe, une grillerégulì ere et l'environnementécurieenvironnementécurie, Environnements utilisés pour les expériences, p.59, 2003.

. Robot-explorant-une-impasse, Les murs sont de couleur noire. Le robot est illustré par le disque bleu et sa cible est en rouge. Le vert montre lafrontì ere, p.66

A. *. Temps-de-calcul, A. Multiobjectif, and . La, propagation de vague (en nombre entier etàetà virgule flottante) pour un nombre croissant de robots sur différents environnements. En haut avec l'environnement labyrinthe : ` a gauche le temps de calcul, ` a droite le nombre de cellules o` u la distancè a lafrontì ere a ´ eté calculée. En bas : ` a gauche l'environnement chambre, p.76

. Dans-la-grille, occupation, le niveau de gris illustre la probabilité d'occupation : plus il est clair plus la probabilité est importante. Dans la grille de configuration, le gris montre l'espace de configuration, le bleu et le rouge les cellules interdites le rouge correspondantàcorrespondantà la dilatation des obstacles de trois cellules, p.89

.. Frontì-ere-accessible-mais-inobservable, le robot peut atteindre lafrontì ere en vert mais il ne pourra pas l'observer car il n'existe pas de configuration permettant son observation, p.97

L. Calcul-de, Les cellulesfrontì eres sont de couleur orange, l'espace libre est blanc, l'espace inexploré en gris En haut : illustration des cercles de différents rayons centrés sur les cellulesfrontì eres. En bas : pour chaque cellule des cercles discrétisés un accumulateur est incrémenté si le segment entre la cellule du cercle et la cellulefrontì ere considérée n'intersecte pas d'obstacle, p.98