1 function [Command,Exp]=Example_random(Exp,Initialization)
2
3 if Initialization
4   Exp.Robots=2;
5   Exp.Workspace=[0 0; 0 10; 10 10; 10 0];
6   Exp.Animation.Title=[Random movements]’;
7   Exp.Initial_pose=[1 3 0; 9 7 pi]’;
8   Exp.Animation.Grid=0;
9
10   Exp.Addons=’Map’;
11   V(1).Vertex=[ 5 2; 4 3; 6 4; 5 3];
12   V(2).Vertex=[ 4 5; 3 7; 2 8; 1 6; 2 5];
13   V(3).Vertex=[ 6 6; 7 7; 8 6];
14   V(4).Vertex=[10 0; 10 10];
15   V(5).Vertex=[ 0 0; 0 10];
16   V(6).Vertex=[ 0 10; 10 10];
17   V(7).Vertex=[ 0 0; 10 0];
18   Exp.Map.Obstacle=V;
19
20   for i=1:Exp.Robots
21   Exp=Add_sensor(Exp,i,’ProximitySensor’);
22   Exp.Agent(i).Sensor(1).Range=0.3;
23   end
24
25   Command=[]; return
26 end
27
28 for i=1:Exp.Robots
29     if Exp.Agent(i).Sensor(1).Presence
30     Command(:,i)=[-0.2; 0];
31     elseif (Exp.Iteration>1)&&(Exp.History.Command(Exp.Iteration-1,1,i))<0,
32     Command(:,i)=[0; pi/2+rand(1)*pi];
33     else
34     Command(:,i)=[0.2; 0];
35   end
36 end
Algorithm 2: Matlab code implementing the illustrative example of Section 4.