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## 1. Cooperative Multi-Robot Observation of Multiple Moving Targets

###### Scenairo

m = 3 holonomic point robots with 360-degree field of view sensors of range do3 = 30 m must observe n = 6 holonomic targets moving randomly within a circular environment of radius R = 100 m. The speed of each target is fixed and randomly chosen to be between 0 m/s and 1.5 m/s. The maximum speed of each robot is 2 m/s. Assume that the sensing of each robot is perfect and that each robot may communicate with other robots throughout the environment. The goal of the robots is to maximize the average number of targets that are being observed by at least one robot at each time step dt = 1 throughout the mission of length T = 120 s.

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## 2. Collective Behaviors

###### Scenairo

25 holonomic circular robots of radius 0.25 m with 360-degree field of view sensors of range 50 m must form a flock and move together through a marked course to a goal location with minimal collisions between each other. Assume that the sensing of each robot is perfect, that they all may home toward both the line through the course and the goal location, but that each robot may not explicitly communicate with any other robot. The goal of robots is to minimize the average distance of each robot from the centroid of the distribution of robots without colliding and minimize the distance of the centroid from the closest point on the line at each time step while making progress toward the goal location.

## 3. Traffic Control

###### Scenairo

Multiple holonomic circular robots of radius 1 m with 360-degree field of view sensors of unlimited range approach a four-way intersection. The width of the road is 7 m and the speed limit is 20 m/s. At each time step dt = 0.2 s, the probability of a robot entering a region of radius 200 m from the intersection in one of the four directions is p = 0.04. The goal of the robots is to travel straight across the intersection as quickly as possible without leaving the road and without colliding with each other.

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