![](bg6.png)
Table 1: Ratio sum of each robot’s view area: DirectPass / ThrowStraight.
target = 10 target = 30 target = 50
View distance The number of robots
5 15 25 5 15 25 5 15 25
R = 50 1.055 0.997 1.007 1.005 1.005 1.018 1.023 1.045 1.040
R = 150 1.056 1.041 1.016 1.064 1.094 1.049 1.094 1.114 1.094
R = 250 1.030 1.034 1.014 1.099 1.092 1.048 1.100 1.142 1.100
devices. ThrowStraight needs only the directional an-
gle. Thus, when implementing the multi-robots sys-
tem based on our approach, it would be necessary
to decide which strategy should be adopted based on
quality of the sensors equipped with the robots.
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