We came across another algorithm that could work. This algorithm is called Dominance.

Using the dominance algorithm, the Robots would move accordingly in straight lines but if there is collision two things will take effect.
The first being the dominant factor, the dominant robot (either in ranking or size) will move in intended path while the subdominant robots will move away via randommotion. A colloquial way to describe this type of motion is simple. Lets say, a mail clerk bumps into CEO in a hall way. Should we expect both participants to move away from collision (randomMotion)? No of course not. What we expected to happen is that the clerk will move out of the way and allow the CEO to continue on its path. Probably not best of explanations but it works.

Dominance:

But know what needs to be considered is deadlock. Deadlock is established when more than two robots collide simultaneously in a manner in which each robot blocks off their intended path. Thus dominance cannot play a factor in this scenario.

VS.

To resolve the dominance problem it is necessary to apply Randommotion. The reason RandomMotion is effective for any type of collision is because Randommotion forces robots to move away from intended collision while dominance in a sense uses brute force to get past it.
We are still working on the pseudo program for the random motion and once that is done we will further proceed to developing dominance. Over the past two weeks David and Arie figured out how to make general animation work. They have been practicing with general shapes. Here’s what we got to work so far.