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Fig 6 - Internal localization algorithm based on relative positions for cubic-lattice modular-robotic ensembles

Fig. 6. A scheme of the internal data organization in a module. Send and receive message boxes are denoted by S t i and R t i , respectively, for each direction i = 0, 1, 2, 3.
A scheme of the internal data organization in a module. Send and receive message boxes are denoted by S t i and R t i , respectively, for each direction i = 0, 1, 2, 3.
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