Distribution of a Robot Swarm in a Square under Gravity

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This Demonstration determines the mean, variance, and covariance for a very large swarm of robots as they move inside a square workplace under the influence of gravity, pointing in the direction

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. The swarm is large, but the robots are comparatively small and together cover a constant area

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. Under gravity, they flow like a liquid, moving to one side of the workplace to form a polygonal shape.