It has been ages…trying to get the algorithm works ( alan suggested this and yet everything need to be done from scratch!!!) Dealing with player/stage is another challenging task and to understand it is another story. Once this algorithm works then it can be enhanced and hoping that it will works… The thesis seminar is rescheduled and I think I need few more weeks to run the algorithm and code is only half way though…The anchoring should not occur if there is 1 or 2 failing robots and my results show the other way around…..and after 2 months, I finally get the exact result ( I think ) …plotting with matlab is a definite easy this time as I have the m-code written from the previous exercise and I just change the data ( thanks to matlab) .. and box plots are ready for analysis ( still part of it ). Now I realise why susan really encourages us on using Matlab for analysis..looks how clean the graphs are and most importantly, you can save the output to pdf (this is needed as I am writing with latex ) and it is clear enough even how small you resize the diagram.

Current issues that I have is the charging part…I also need to have a rigorous testing with the algorithm that I proposed. we might need to increase the number of robots, increase the number of failures and lots more…to see whether the first and second algorithm can really solve it, We might need to have more sophisticated way of solving the issues according to granuloma formation. While preparing the movie for discussion and presentation…I am trying to add energy to the robots which is fine but..the charging issues need to be solved by this week or else…I can’t show to Jon during meeting.

End of this month, we need to attend the conference in edinburgh and I will be visiting edinburgh and glasgow…hopefully the codes work before the trip!!

Here are some of the movies that I captured while I am running the experiment. With one and two failing robots injected, the swarm still can arrive to the beacon. But once more failures are injected, the stagnation starts to occur…