Step 1

Robot Locations: [[0.59449756 0.09838528]

[0.08257082 0.57230587]
[0.83558179 0.63702679]
[0.5342847 0.37987847]
[0.64917887 0.15388624]
[0.69218623 0.83338312]
[0.38472825 0.62948966]
[0.76769641 0.58884889]
[0.12962425 0.07610339]
[0.10449592 0.64728122]]
Voronoi Diagram: {'_qhull': None, 'vertices': array([[-3.0784565 , 0.02222265],
[ 0.27300574, 0.39294072],
[ 0.34331627, 1.02569618],
[ 0.80420473, -0.10948935],
[ 0.43278767, 0.21098121],
[ 0.19796541, 0.33291619],
[ 0.25793151, 0.35755471],
[ 2.01034165, 0.70593001],
[ 0.58218925, 0.66549137],
[ 0.71703275, 0.70712995],
[ 0.78016148, 0.64320102],
[ 0.57229578, 0.57226264],
[ 0.74081056, 0.38403828],
[ 0.95824334, 0.3922736 ],
[ 0.91207497, 0.37040519],
[-0.03600359, 0.64767414],
[ 0.25492251, 0.80078339],
[ 0.24007611, 0.56693994],
[ 0.51735947, 0.22907156],
[ 0.65524586, 0.29917283],
[ 0.73328519, 0.01633465]]), 'ridge_points': array([[10, 0],
[10, 3],
[10, 1],
[10, 8],
[ 8, 13],
[ 8, 1],
[ 7, 6],
[ 7, 5],
[ 7, 14],
[ 7, 2],
[ 7, 3],
[ 7, 12],
[ 7, 11],
[ 5, 13],
[ 5, 6],
[ 5, 14],
[14, 11],
[14, 2],
[ 2, 11],
[11, 12],
[11, 0],
[ 9, 1],
[ 9, 13],
[ 9, 6],
[ 1, 13],
[ 1, 6],
[ 1, 3],
[13, 6],
 [ 6, 3],
[ 4, 0],
[ 4, 3],
[ 4, 12],
[ 0, 12],
[ 0, 3],
[ 3, 12]], dtype=int32), 'ridge_vertices': [[-1, 4], [4, 6], [5, 6], [-1,
5], [-1, 0], [0, 5], [8, 11], [8, 9], [9, 10], [10, 13], [11, 12], [12, 14], [13,
14], [-1, 2], [2, 8], [-1, 9], [-1, 7], [7, 10], [7, 13], [3, 14], [-1, 3], [15,
17], [15, 16], [16, 17], [0, 15], [1, 17], [1, 6], [2, 16], [1, 11], [18, 20], [18,
19], [19, 20], [3, 20], [4, 18], [12, 19]], 'regions': [[-1, 4, 6, 5], [-1, 0, 5],
[], [14, 12, 11, 8, 9, 10, 13], [9, -1, 2, 8], [10, 7, -1, 9], [13, 7, 10], [14, 3,
-1, 7, 13], [17, 15, 16], [17, 1, 6, 5, 0, 15], [16, 2, -1, 0, 15], [17, 1, 11, 8,
2, 16], [20, 18, 19], [20, 3, -1, 4, 18], [19, 12, 11, 1, 6, 4, 18], [20, 3, 14,
12, 19]], 'point_region': array([13, 9, 6, 14, 12, 4, 11, 3, 1, 8, 0, 7,
15, 10, 5],
dtype=int64), '_ridge_dict': None, '_points': array([[0.59449756,
0.09838528],
[0.08257082, 0.57230587],
[0.83558179, 0.63702679],
[0.5342847 , 0.37987847],
[0.64917887, 0.15388624],
[0.69218623, 0.83338312],
[0.38472825, 0.62948966],
[0.76769641, 0.58884889],
[0.12962425, 0.07610339],
[0.10449592, 0.64728122],
[0.28420987, 0.08154948],
[0.98962821, 0.12030858],
[0.73495623, 0.17755351],
[0.04322389, 0.76370548],
[0.8346663 , 0.65498052]]), 'ndim': 2, 'npoints': 15, 'min_bound':
array([0.04322389, 0.07610339]), 'max_bound': array([0.98962821, 0.83338312]),
'furthest_site': False}
Step 2
Robot Locations: [[0.99199388 0.73615112]
[0.36088354 0.8850463 ]
[0.98766104 0.94737466]
[0.28252854 0.01186074]
[0.83135658 0.27047784]
[0.02206431 0.85499429]
[0.9276632 0.82220679]
[0.70806557 0.30290185]
[0.46608924 0.42585425]
[0.92940997 0.19856385]]
Voronoi Diagram: {'_qhull': None, 'vertices': array([[ 2.78402607e-01,
6.24501168e-01],
[-3.83130216e+00, 4.62245196e+01],
[ 1.93547211e-01, 8.46645180e-01],
[-8.24725446e-01, 7.34394032e-02],
[ 9.87881962e-02, 3.99690056e-01],
[ 5.58249353e-01, 6.88616983e-01],
[ 6.64765774e-01, 5.17272551e-01],
[ 1.03435253e+00, 4.60996079e-01],
[ 8.16045644e-01, 4.62875215e-01],
[ 4.96830964e-01, 1.89423533e-01],
[ 4.99830075e-01, 1.92671054e-01],
[ 5.28488001e-01, 4.07912902e-02],
[ 7.20273570e-01, -4.82883365e-01],
 [ 7.59643469e-01, 2.48408163e-01],
[ 6.63368758e-01, 1.02585703e+00],
[ 6.46017986e-01, 8.69362093e-01],
[ 1.04506326e+00, 8.42895945e-01],
[ 8.95140463e-01, 7.30821560e-01],
[ 8.44812842e-01, 7.11685683e-02],
[ 8.33996695e-01, 1.71273601e-01],
[ 1.30724424e+00, 4.27014318e-01],
[ 1.04403449e+00, 4.57656217e-01]]), 'ridge_points': array([[ 5, 2],
[ 5, 13],
[ 5, 1],
[13, 3],
[13, 1],
[13, 8],
[13, 10],
[10, 3],
[10, 8],
[10, 12],
[ 8, 1],
[ 8, 14],
[ 8, 7],
[ 8, 12],
[ 7, 14],
[ 7, 4],
[ 7, 12],
[ 3, 11],
[ 3, 12],
[ 6, 1],
[ 6, 2],
[ 6, 14],
[ 6, 0],
[ 1, 2],
[ 1, 14],
[ 2, 0],
[14, 4],
[14, 0],
[ 9, 12],
[ 9, 11],
[ 9, 4],
[ 9, 0],
[12, 11],
[12, 4],
[11, 0],
[ 4, 0]], dtype=int32), 'ridge_vertices': [[-1, 1], [-1, 2], [1, 2], [-1,
3], [0, 2], [0, 4], [3, 4], [3, 11], [4, 9], [9, 11], [0, 5], [5, 6], [6, 10], [9,
10], [6, 8], [8, 13], [10, 13], [-1, 12], [11, 12], [14, 15], [14, 16], [15, 17],
[16, 17], [1, 14], [5, 15], [-1, 16], [7, 8], [7, 17], [18, 19], [18, 20], [19,
21], [20, 21], [12, 18], [13, 19], [-1, 20], [7, 21]], 'regions': [[], [2, -1, 1],
[4, 0, 2, -1, 3], [11, 3, 4, 9], [10, 6, 5, 0, 4, 9], [13, 8, 6, 10], [12, -1, 3,
11], [17, 15, 14, 16], [15, 5, 0, 2, 1, 14], [16, -1, 1, 14], [17, 7, 8, 6, 5, 15],
[21, 19, 18, 20], [19, 13, 10, 9, 11, 12, 18], [20, -1, 12, 18], [21, 7, 8, 13,
19], [21, 7, 17, 16, -1, 20]], 'point_region': array([15, 8, 9, 6, 14, 1, 7,
5, 4, 11, 3, 13, 12, 2, 10],
dtype=int64), '_ridge_dict': None, '_points': array([[0.99199388,
0.73615112],
[0.36088354, 0.8850463 ],
[0.98766104, 0.94737466],
[0.28252854, 0.01186074],
[0.83135658, 0.27047784],
 [0.02206431, 0.85499429],
[0.9276632 , 0.82220679],
[0.70806557, 0.30290185],
[0.46608924, 0.42585425],
[0.92940997, 0.19856385],
[0.28420987, 0.08154948],
[0.98962821, 0.12030858],
[0.73495623, 0.17755351],
[0.04322389, 0.76370548],
[0.8346663 , 0.65498052]]), 'ndim': 2, 'npoints': 15, 'min_bound':
array([0.02206431, 0.01186074]), 'max_bound': array([0.99199388, 0.94737466]),
'furthest_site': False}
Step 3
Robot Locations: [[0.50167492 0.4570985 ]
[0.68183834 0.58327796]
[0.91154849 0.94096981]
[0.64731443 0.39521675]
[0.67056641 0.87128325]
[0.94189681 0.88682688]
[0.06972331 0.67119146]
[0.85931543 0.43226267]
[0.64152346 0.05904134]
[0.22723768 0.14225829]]
Voronoi Diagram: {'_qhull': None, 'vertices': array([[-0.31301957, 4.72411915],
[ 0.35918253, 0.80415544],
[ 0.37745809, 0.7492769 ],
[ 0.47250196, 0.22325431],
[ 1.55664077, 0.54036196],
[ 0.8080463 , 0.84737763],
[ 0.4528397 , 0.71853865],
[ 0.41182021, 0.25839262],
[ 0.2179253 , 0.42740529],
[ 0.49105063, 0.22977097],
[ 0.60587973, 0.50002277],
[ 0.74262412, 0.4749195 ],
[ 1.27683644, 0.59119444],
[ 0.79630999, 0.53801252],
[ 0.81036275, 0.80694167],
[ 0.70694622, 0.72848386],
[ 0.77001909, 0.31814757],
[ 0.54809068, 0.2287884 ],
[ 0.88744185, 0.26081707],
[ 0.830242 , 0.0063456 ]]), 'ridge_points': array([[ 2, 13],
[ 2, 4],
[ 2, 5],
[ 9, 10],
[ 9, 0],
[ 9, 6],
[10, 8],
[10, 0],
[ 6, 4],
[ 6, 13],
[ 6, 0],
[13, 4],
[ 0, 4],
[ 0, 8],
[ 0, 1],
[ 0, 3],
[14, 5],
 [14, 7],
[14, 1],
[14, 4],
[ 5, 7],
[ 5, 11],
[ 5, 4],
[ 1, 4],
[ 1, 3],
[ 1, 7],
[12, 3],
[12, 7],
[12, 8],
[12, 11],
[ 3, 8],
[ 3, 7],
[ 7, 11],
[ 8, 11]], dtype=int32), 'ridge_vertices': [[-1, 0], [0, 5], [-1, 5], [-1,
7], [7, 8], [-1, 8], [-1, 3], [3, 7], [1, 2], [-1, 1], [2, 8], [0, 1], [2, 6], [3,
9], [6, 10], [9, 10], [12, 14], [12, 13], [13, 15], [14, 15], [4, 12], [-1, 4], [5,
14], [6, 15], [10, 11], [11, 13], [16, 17], [16, 18], [17, 19], [18, 19], [9, 17],
[11, 16], [4, 18], [-1, 19]], 'regions': [[5, 0, -1], [-1, 7, 8], [-1, 3, 7], [-1,
1, 2, 8], [-1, 0, 1], [], [10, 6, 2, 8, 7, 3, 9], [15, 13, 12, 14], [14, 5, -1, 4,
12], [15, 6, 10, 11, 13], [15, 6, 2, 1, 0, 5, 14], [19, 17, 16, 18], [17, 9, 10,
11, 16], [18, 4, 12, 13, 11, 16], [19, -1, 3, 9, 17], [19, -1, 4, 18]],
'point_region': array([ 6, 9, 0, 12, 10, 8, 3, 13, 14, 1, 2, 15, 11, 4, 7],
dtype=int64), '_ridge_dict': None, '_points': array([[0.50167492,
0.4570985 ],
[0.68183834, 0.58327796],
[0.91154849, 0.94096981],
[0.64731443, 0.39521675],
[0.67056641, 0.87128325],
[0.94189681, 0.88682688],
[0.06972331, 0.67119146],
[0.85931543, 0.43226267],
[0.64152346, 0.05904134],
[0.22723768, 0.14225829],
[0.28420987, 0.08154948],
[0.98962821, 0.12030858],
[0.73495623, 0.17755351],
[0.04322389, 0.76370548],
[0.8346663 , 0.65498052]]), 'ndim': 2, 'npoints': 15, 'min_bound':
array([0.04322389, 0.05904134]), 'max_bound': array([0.98962821, 0.94096981]),
'furthest_site': False}
Step 4
Robot Locations: [[0.83787339 0.61656223]
[0.92338553 0.65210819]
[0.99214663 0.4887276 ]
[0.37722209 0.78653028]
[0.22764681 0.43701315]
[0.36757142 0.45934136]
[0.9646965 0.4354498 ]
[0.87485714 0.56189059]
[0.67145162 0.10361354]
[0.95275361 0.43358121]]
Voronoi Diagram: {'_qhull': None, 'vertices': array([[-7.53216695e-01,
9.87013759e-02],
[ 3.25973260e-01, 2.70427194e-01],
[ 2.18944064e-01, 6.47501284e-01],
[ 2.69236791e-01, 6.25978595e-01],
 [ 4.95013646e+00, -7.83999317e+01],
[ 8.34976475e-01, 2.74084089e-02],
[ 4.69502040e-01, 2.38756895e-01],
[ 5.29361085e-01, 2.89891435e-01],
[ 5.76085934e-01, 6.16927867e-01],
[ 5.77249909e-01, 6.14148838e-01],
[ 8.88889503e-01, 2.67257390e-01],
[ 6.37368094e-01, 4.30707066e-01],
[ 6.35523212e-01, 4.39833242e-01],
[ 7.41163200e-01, 3.92925049e-01],
[ 9.17824135e-01, 5.00175686e-01],
[ 9.16121978e-01, 1.79935127e+00],
[ 9.63018931e-01, 5.72628632e-01],
[ 8.78564812e-01, 6.39302081e-01],
[ 8.89939451e-01, 6.11938360e-01],
[ 1.28819395e+00, 3.02485778e-01],
[ 9.52305700e-01, 4.75544281e-01],
[ 9.83158123e-01, 2.78353532e-01]]), 'ridge_points': array([[ 4, 10],
[ 4, 13],
[ 4, 5],
[ 4, 3],
[13, 10],
[13, 3],
[ 8, 11],
[ 8, 10],
[ 8, 12],
[ 8, 5],
[10, 11],
[10, 5],
[12, 11],
[12, 5],
[12, 9],
[12, 7],
[ 5, 3],
[ 5, 14],
[ 5, 0],
[ 5, 7],
[ 1, 3],
[ 1, 14],
[ 1, 2],
[ 1, 7],
[ 1, 0],
[ 3, 14],
[14, 0],
[ 7, 0],
[ 7, 9],
[ 7, 2],
[ 6, 11],
[ 6, 2],
[ 6, 9],
[11, 2],
[11, 9],
[ 2, 9]], dtype=int32), 'ridge_vertices': [[0, 1], [0, 2], [1, 3], [2, 3],
[-1, 0], [-1, 2], [4, 5], [4, 6], [5, 7], [6, 7], [-1, 4], [1, 6], [5, 10], [7,
11], [10, 13], [11, 13], [3, 8], [8, 9], [9, 12], [11, 12], [-1, 15], [15, 17], [-
1, 16], [16, 18], [17, 18], [8, 15], [9, 17], [12, 18], [13, 14], [14, 16], [19,
21], [19, 20], [20, 21], [-1, 19], [10, 21], [14, 20]], 'regions': [[3, 1, 0, 2],
[2, -1, 0], [7, 5, 4, 6], [6, 1, 0, -1, 4], [13, 10, 5, 7, 11], [12, 9, 8, 3, 1, 6,
7, 11], [18, 16, -1, 15, 17], [15, 8, 3, 2, -1], [], [17, 9, 8, 15], [18, 12, 11,
13, 14, 16], [18, 12, 9, 17], [21, 19, 20], [21, 10, 5, 4, -1, 19], [20, 14, 16, -
1, 19], [21, 10, 13, 14, 20]], 'point_region': array([11, 6, 14, 7, 0, 5, 12,
10, 2, 15, 3, 13, 4, 1, 9],
dtype=int64), '_ridge_dict': None, '_points': array([[0.83787339,
0.61656223],
[0.92338553, 0.65210819],
[0.99214663, 0.4887276 ],
[0.37722209, 0.78653028],
[0.22764681, 0.43701315],
[0.36757142, 0.45934136],
[0.9646965 , 0.4354498 ],
[0.87485714, 0.56189059],
[0.67145162, 0.10361354],
[0.95275361, 0.43358121],
[0.28420987, 0.08154948],
[0.98962821, 0.12030858],
[0.73495623, 0.17755351],
[0.04322389, 0.76370548],
[0.8346663 , 0.65498052]]), 'ndim': 2, 'npoints': 15, 'min_bound':
array([0.04322389, 0.08154948]), 'max_bound': array([0.99214663, 0.78653028]),
'furthest_site': False}
Step 5
Robot Locations: [[0.4854386 0.93790705]
[0.20466295 0.84987934]
[0.64152432 0.33275286]
[0.41050809 0.00134379]
[0.56790992 0.18840186]
[0.40667511 0.50856334]
[0.39202845 0.41172403]
[0.31460073 0.63451171]
[0.69387617 0.49744592]
[0.63836736 0.69768931]]
Voronoi Diagram: {'_qhull': None, 'vertices': array([[-0.01138739, 0.36076821],
[ 0.95980996, 0.40145845],
[ 0.04394227, 0.41559848],
[ 0.41887279, 0.15405792],
[ 0.39043891, 0.22955173],
[ 0.24101986, 0.48409091],
[ 0.18009614, 0.70159529],
[ 0.72279764, 0.61327855],
[ 0.55271926, 0.56613168],
[ 0.47817022, 0.65745936],
[ 0.49856742, 0.31471032],
[ 0.54834155, 0.45304056],
[ 0.53796458, 0.43917892],
[ 0.37426469, 0.80071166],
[ 0.4595925 , 0.75266471],
[ 0.80031808, 0.96957934],
[ 0.65481346, 0.23502983],
[ 0.76807423, -0.27022715],
[ 0.63760223, -0.02999409],
[ 0.91033382, 0.36265914],
[ 0.85501832, 0.35555561]]), 'ridge_points': array([[10, 13],
[10, 3],
[10, 6],
[10, 4],
[ 6, 13],
[ 6, 7],
[ 6, 4],
 [ 6, 5],
[ 6, 2],
[ 5, 7],
[ 5, 9],
[ 5, 8],
[ 5, 2],
[ 0, 1],
[ 0, 7],
[ 0, 9],
[ 0, 14],
[ 1, 7],
[ 1, 13],
[ 7, 13],
[ 7, 9],
[ 9, 14],
[ 9, 8],
[14, 11],
[14, 8],
[12, 2],
[12, 4],
[12, 3],
[12, 11],
[12, 8],
[ 2, 4],
[ 2, 8],
[ 4, 3],
[ 3, 11],
[11, 8]], dtype=int32), 'ridge_vertices': [[-1, 0], [-1, 3], [0, 4], [3,
4], [0, 2], [2, 5], [4, 10], [5, 12], [10, 12], [5, 9], [8, 9], [8, 11], [11, 12],
[-1, 13], [13, 14], [14, 15], [-1, 15], [6, 13], [-1, 6], [2, 6], [9, 14], [7, 15],
[7, 8], [-1, 1], [1, 7], [16, 20], [16, 18], [17, 18], [17, 19], [19, 20], [10,
16], [11, 20], [3, 18], [-1, 17], [1, 19]], 'regions': [[4, 0, -1, 3], [12, 5, 2,
0, 4, 10], [12, 5, 9, 8, 11], [-1, 13, 14, 15], [-1, 6, 13], [14, 9, 5, 2, 6, 13],
[15, 7, 8, 9, 14], [-1, 1, 7, 15], [], [-1, 6, 2, 0], [20, 16, 18, 17, 19], [20,
11, 12, 10, 16], [18, 3, 4, 10, 16], [18, 3, -1, 17], [19, 1, -1, 17], [20, 11, 8,
7, 1, 19]], 'point_region': array([ 3, 4, 11, 13, 12, 2, 1, 5, 15, 6, 0, 14,
10, 9, 7],
dtype=int64), '_ridge_dict': None, '_points': array([[0.4854386 ,
0.93790705],
[0.20466295, 0.84987934],
[0.64152432, 0.33275286],
[0.41050809, 0.00134379],
[0.56790992, 0.18840186],
[0.40667511, 0.50856334],
[0.39202845, 0.41172403],
[0.31460073, 0.63451171],
[0.69387617, 0.49744592],
[0.63836736, 0.69768931],
[0.28420987, 0.08154948],
[0.98962821, 0.12030858],
[0.73495623, 0.17755351],
[0.04322389, 0.76370548],
[0.8346663 , 0.65498052]]), 'ndim': 2, 'npoints': 15, 'min_bound':
array([0.04322389, 0.00134379]), 'max_bound': array([0.98962821, 0.93790705]),
'furthest_site': False}
Step 6
Robot Locations: [[0.81944374 0.3452415 ]
[0.53535388 0.39924733]
[0.98859544 0.08609117]
 [0.88736695 0.64276747]
[0.6015224 0.2367161 ]
[0.79500705 0.53468506]
[0.48924069 0.93405858]
[0.68748545 0.95221151]
[0.29488857 0.88582356]
[0.89215099 0.3055035 ]]
Voronoi Diagram: {'_qhull': None, 'vertices': array([[ 0.28797231, 0.57969862],
[ 0.17446043, 0.42642287],
[ 0.39893346, 0.24897421],
[ 0.45369874, 0.6616004 ],
[ 0.67535823, 0.36151024],
[ 0.91447559, 0.87955546],
[ 0.60807768, 0.7278354 ],
[ 0.70780175, 0.29636295],
[ 0.85293668, 0.10730999],
[ 0.6400576 , -0.48303663],
[ 0.5499036 , -0.05975663],
[ 0.55892475, 0.67067333],
[ 0.56671169, 0.67663513],
[ 0.68733229, 0.42449803],
[ 0.84610403, 0.5845245 ],
[ 0.86805526, 0.17456973],
[ 0.81141117, 0.24416063],
[ 1.45235566, 0.48211585],
[ 0.97388817, 0.47532885],
[ 0.9268611 , 0.45539533]]), 'ridge_points': array([[13, 8],
[13, 1],
[13, 10],
[ 8, 1],
[ 8, 6],
[ 7, 3],
[ 7, 6],
[ 7, 14],
[ 4, 10],
[ 4, 1],
[ 4, 0],
[ 4, 12],
[ 2, 11],
[ 2, 10],
[ 2, 12],
[10, 1],
[10, 12],
[ 6, 1],
[ 6, 14],
[ 6, 5],
[ 1, 0],
[ 1, 5],
[14, 3],
[14, 5],
[ 9, 12],
[ 9, 11],
[ 9, 0],
[ 9, 3],
[ 9, 5],
[12, 0],
[12, 11],
[11, 3],
[ 0, 5],
 [ 3, 5]], dtype=int32), 'ridge_vertices': [[-1, 0], [0, 1], [-1, 1], [0,
3], [-1, 3], [-1, 5], [-1, 6], [5, 6], [2, 10], [2, 4], [4, 7], [7, 10], [-1, 8],
[-1, 9], [8, 9], [1, 2], [9, 10], [3, 11], [6, 12], [11, 12], [4, 13], [11, 13],
[5, 14], [12, 14], [15, 16], [15, 17], [16, 19], [17, 18], [18, 19], [7, 16], [8,
15], [-1, 17], [13, 19], [14, 18]], 'regions': [[-1, 0, 1], [], [3, 0, -1], [6, -1,
5], [10, 2, 4, 7], [9, -1, 8], [10, 2, 1, -1, 9], [12, 6, -1, 3, 11], [13, 4, 2, 1,
0, 3, 11], [14, 5, 6, 12], [19, 16, 15, 17, 18], [16, 7, 10, 9, 8, 15], [17, -1, 8,
15], [19, 13, 4, 7, 16], [18, 14, 5, -1, 17], [19, 13, 11, 12, 14, 18]],
'point_region': array([13, 8, 5, 14, 4, 15, 7, 3, 2, 10, 6, 12, 11, 0, 9],
dtype=int64), '_ridge_dict': None, '_points': array([[0.81944374,
0.3452415 ],
[0.53535388, 0.39924733],
[0.98859544, 0.08609117],
[0.88736695, 0.64276747],
[0.6015224 , 0.2367161 ],
[0.79500705, 0.53468506],
[0.48924069, 0.93405858],
[0.68748545, 0.95221151],
[0.29488857, 0.88582356],
[0.89215099, 0.3055035 ],
[0.28420987, 0.08154948],
[0.98962821, 0.12030858],
[0.73495623, 0.17755351],
[0.04322389, 0.76370548],
[0.8346663 , 0.65498052]]), 'ndim': 2, 'npoints': 15, 'min_bound':
array([0.04322389, 0.08154948]), 'max_bound': array([0.98962821, 0.95221151]),
'furthest_site': False}
Step 7
Robot Locations: [[0.78660179 0.42038057]
[0.6378601 0.57875042]
[0.72390211 0.13704681]
[0.24283928 0.65872025]
[0.36592538 0.99967446]
[0.1763438 0.12874682]
[0.19449042 0.97572184]
[0.27601876 0.43563508]
[0.53836349 0.47123651]
[0.58139465 0.51764368]]
Voronoi Diagram: {'_qhull': None, 'vertices': array([[-0.12640606, 0.39670863],
[ 0.03956061, 0.51447662],
[ 0.73852871, -1.74837404],
[ 0.29759401, 0.25899664],
[ 0.42512276, 0.61939324],
[ 0.39179825, 0.56686495],
[ 0.4331519 , 0.26213252],
[ 0.65447572, 0.40672511],
[ 1.17339016, 0.46335958],
[ 0.68744691, 0.47628822],
[ 0.76316757, 0.54740541],
[ 0.63595894, 0.87582488],
[ 0.45499617, 0.69108341],
[ 0.47079461, 0.76912173],
[ 0.63775981, 0.32513132],
[ 0.4897413 , 0.22271004],
[ 0.48911925, 0.22563065],
[ 0.85638574, 0.12265421],
[ 0.88984682, 0.27151632],
[ 0.19705154, 0.8139246 ],
[ 0.30224561, 0.82996872]]), 'ridge_points': array([[ 5, 13],
 [ 5, 7],
[ 5, 10],
[ 7, 13],
[ 7, 3],
[ 7, 10],
[ 7, 8],
[ 1, 0],
[ 1, 9],
[ 1, 14],
[ 1, 4],
[ 1, 3],
[ 9, 8],
[ 9, 3],
[ 9, 0],
[14, 11],
[14, 0],
[14, 4],
[12, 0],
[12, 8],
[12, 10],
[12, 2],
[12, 11],
[ 0, 8],
[ 0, 11],
[ 8, 3],
[ 8, 10],
[10, 2],
[10, 11],
[ 2, 11],
[ 6, 3],
[ 6, 13],
[ 6, 4],
[ 3, 13],
[ 3, 4]], dtype=int32), 'ridge_vertices': [[-1, 0], [0, 3], [-1, 3], [0,
1], [1, 5], [3, 6], [5, 6], [9, 10], [9, 12], [10, 11], [11, 13], [12, 13], [4, 7],
[4, 12], [7, 9], [-1, 8], [8, 10], [-1, 11], [14, 18], [14, 16], [15, 16], [15,
17], [17, 18], [7, 14], [8, 18], [4, 5], [6, 16], [2, 15], [-1, 2], [2, 17], [19,
20], [-1, 19], [-1, 20], [1, 19], [13, 20]], 'regions': [[3, 0, -1], [6, 3, 0, 1,
5], [13, 11, 10, 9, 12], [12, 4, 7, 9], [11, -1, 8, 10], [18, 14, 16, 15, 17], [18,
8, 10, 9, 7, 14], [16, 6, 5, 4, 7, 14], [16, 6, 3, -1, 2, 15], [17, 2, 15], [18, 8,
-1, 2, 17], [-1, 20, 19], [20, 13, 12, 4, 5, 1, 19], [-1, 0, 1, 19], [-1, 11, 13,
20], []], 'point_region': array([ 6, 2, 9, 12, 14, 0, 11, 1, 7, 3, 8, 10,
5, 13, 4],
dtype=int64), '_ridge_dict': None, '_points': array([[0.78660179,
0.42038057],
[0.6378601 , 0.57875042],
[0.72390211, 0.13704681],
[0.24283928, 0.65872025],
[0.36592538, 0.99967446],
[0.1763438 , 0.12874682],
[0.19449042, 0.97572184],
[0.27601876, 0.43563508],
[0.53836349, 0.47123651],
[0.58139465, 0.51764368],
[0.28420987, 0.08154948],
[0.98962821, 0.12030858],
[0.73495623, 0.17755351],
[0.04322389, 0.76370548],
[0.8346663 , 0.65498052]]), 'ndim': 2, 'npoints': 15, 'min_bound':
array([0.04322389, 0.08154948]), 'max_bound': array([0.98962821, 0.99967446]),
'furthest_site': False}
Step 8
Robot Locations: [[0.90119114 0.00324084]
[0.70834348 0.87608731]
[0.78614991 0.3906731 ]
[0.68609766 0.28124723]
[0.01354095 0.60026499]
[0.69770178 0.00814762]
[0.98510384 0.99073534]
[0.83296637 0.70335604]
[0.73080809 0.03399148]
[0.29061522 0.83296527]]
Voronoi Diagram: {'_qhull': None, 'vertices': array([[ 1.50058644, 0.55818962],
[ 1.15826104, 0.45897476],
[ 0.85761018, 0.12810152],
[ 0.8859098 , 0.25400124],
[ 0.20865907, 0.64924463],
[ 0.50842775, 0.57825846],
[ 0.80432854, 0.27359795],
[ 0.49166515, 0.559478 ],
[ 0.50728822, 0.1368532 ],
[ 0.5147882 , 0.13717188],
[ 0.35297416, 0.44740721],
[ 0.3620689 , 0.46658084],
[ 0.37338035, 2.07606212],
[ 0.52330423, 0.62373182],
[ 0.83121674, 0.10293118],
[ 0.79725344, -0.08525258],
[ 0.64617737, 0.10827778],
[ 1.20172519, 0.69209671],
[ 0.87504695, 0.86503888],
[ 0.6063453 , 0.67117487]]), 'ridge_points': array([[11, 6],
[11, 0],
[11, 14],
[11, 2],
[11, 12],
[13, 4],
[13, 9],
[ 3, 12],
[ 3, 2],
[ 3, 9],
[ 3, 5],
[ 3, 10],
[ 3, 4],
[ 2, 14],
[ 2, 12],
[ 2, 9],
[10, 4],
[10, 5],
[ 4, 9],
[ 9, 6],
[ 9, 14],
[ 9, 1],
[ 8, 12],
[ 8, 0],
[ 8, 5],
[12, 0],
[12, 5],
 [ 0, 5],
[ 7, 14],
[ 7, 6],
[ 7, 1],
[14, 6],
[14, 1],
[ 6, 1]], dtype=int32), 'ridge_vertices': [[-1, 0], [-1, 2], [0, 1], [1,
3], [2, 3], [-1, 4], [-1, 4], [6, 9], [6, 7], [7, 11], [8, 9], [8, 10], [10, 11],
[1, 5], [3, 6], [5, 7], [-1, 10], [-1, 8], [4, 11], [-1, 12], [5, 13], [12, 13],
[14, 16], [14, 15], [15, 16], [2, 14], [9, 16], [-1, 15], [17, 19], [17, 18], [18,
19], [0, 17], [13, 19], [12, 18]], 'regions': [[3, 1, 0, -1, 2], [4, -1], [], [11,
7, 6, 9, 8, 10], [7, 5, 1, 3, 6], [10, -1, 8], [11, 4, -1, 10], [13, 5, 7, 11, 4, -
1, 12], [16, 14, 15], [16, 9, 6, 3, 2, 14], [15, -1, 2, 14], [16, 9, 8, -1, 15],
[19, 17, 18], [19, 13, 5, 1, 0, 17], [18, 12, -1, 0, 17], [19, 13, 12, 18]],
'point_region': array([10, 15, 4, 3, 6, 11, 14, 12, 8, 7, 5, 0, 9, 1, 13],
dtype=int64), '_ridge_dict': None, '_points': array([[0.90119114,
0.00324084],
[0.70834348, 0.87608731],
[0.78614991, 0.3906731 ],
[0.68609766, 0.28124723],
[0.01354095, 0.60026499],
[0.69770178, 0.00814762],
[0.98510384, 0.99073534],
[0.83296637, 0.70335604],
[0.73080809, 0.03399148],
[0.29061522, 0.83296527],
[0.28420987, 0.08154948],
[0.98962821, 0.12030858],
[0.73495623, 0.17755351],
[0.04322389, 0.76370548],
[0.8346663 , 0.65498052]]), 'ndim': 2, 'npoints': 15, 'min_bound':
array([0.01354095, 0.00324084]), 'max_bound': array([0.98962821, 0.99073534]),
'furthest_site': False}
Step 9
Robot Locations: [[0.69517149 0.73451268]
[0.23616597 0.52456864]
[0.78281214 0.19116846]
[0.82838995 0.43440594]
[0.56983682 0.51592162]
[0.90144449 0.89395536]
[0.19100682 0.19142177]
[0.96284106 0.18315845]
[0.8983101 0.25646859]
[0.98427783 0.64996627]]
Voronoi Diagram: {'_qhull': None, 'vertices': array([[ 0.67906863, -0.66619644],
[ 0.48112597, 0.26315968],
[ 0.3954512 , 1.3354149 ],
[ 0.37292334, 0.83231206],
[ 0.40904213, 0.75334471],
[ 0.42806724, 0.29804912],
[ 0.39814838, 0.33297722],
[-0.15331375, 0.40772972],
[ 1.53689727, 0.39069274],
[ 0.65975588, 0.35032884],
[ 0.90578898, 0.54258017],
[ 0.9131385 , 0.76187009],
[ 0.81829873, 0.78837174],
[ 0.70242086, 0.58512865],
[ 0.72201681, 0.54780932],
 [ 1.14514003, 0.40868303],
[ 1.06747954, 0.42564957],
[ 0.71765896, 0.32926577],
[ 0.78844228, 0.3160024 ],
[ 0.8719846 , 0.16823904],
[ 0.82110008, -0.03432507],
[ 0.86922089, 0.10612334]]), 'ridge_points': array([[ 6, 10],
[ 6, 4],
[ 6, 1],
[ 6, 13],
[10, 11],
[10, 12],
[10, 4],
[ 1, 0],
[ 1, 13],
[ 1, 4],
[13, 5],
[13, 0],
[14, 3],
[14, 9],
[14, 5],
[14, 0],
[14, 4],
[ 5, 9],
[ 5, 0],
[ 0, 4],
[ 4, 12],
[ 4, 3],
[ 9, 11],
[ 9, 7],
[ 9, 3],
[ 9, 8],
[ 2, 3],
[ 2, 12],
[ 2, 8],
[ 2, 7],
[ 2, 11],
[ 3, 12],
[ 3, 8],
[12, 11],
[ 8, 7],
[ 7, 11]], dtype=int32), 'ridge_vertices': [[-1, 5], [5, 6], [6, 7], [-1,
7], [-1, 0], [0, 1], [1, 5], [3, 4], [3, 7], [4, 6], [-1, 2], [2, 3], [10, 14],
[10, 11], [11, 12], [12, 13], [13, 14], [-1, 11], [2, 12], [4, 13], [1, 9], [9,
14], [-1, 8], [8, 15], [10, 16], [15, 16], [17, 18], [17, 20], [18, 19], [19, 21],
[20, 21], [9, 17], [16, 18], [0, 20], [15, 19], [8, 21]], 'regions': [[-1, 5, 6,
7], [-1, 0, 1, 5], [7, 3, 4, 6], [-1, 2, 3, 7], [], [14, 10, 11, 12, 13], [12, 2, -
1, 11], [13, 4, 3, 2, 12], [14, 9, 1, 5, 6, 4, 13], [16, 10, 11, -1, 8, 15], [21,
19, 18, 17, 20], [18, 16, 10, 14, 9, 17], [20, 0, 1, 9, 17], [19, 15, 16, 18], [21,
8, 15, 19], [21, 8, -1, 0, 20]], 'point_region': array([ 7, 2, 10, 11, 8, 6, 0,
14, 13, 9, 1, 15, 12, 3, 5],
dtype=int64), '_ridge_dict': None, '_points': array([[0.69517149,
0.73451268],
[0.23616597, 0.52456864],
[0.78281214, 0.19116846],
[0.82838995, 0.43440594],
[0.56983682, 0.51592162],
[0.90144449, 0.89395536],
[0.19100682, 0.19142177],
 [0.96284106, 0.18315845],
[0.8983101 , 0.25646859],
[0.98427783, 0.64996627],
[0.28420987, 0.08154948],
[0.98962821, 0.12030858],
[0.73495623, 0.17755351],
[0.04322389, 0.76370548],
[0.8346663 , 0.65498052]]), 'ndim': 2, 'npoints': 15, 'min_bound':
array([0.04322389, 0.08154948]), 'max_bound': array([0.98962821, 0.89395536]),
'furthest_site': False}
Step 10
Robot Locations: [[0.74082695 0.55723574]
[0.19879018 0.70768753]
[0.06505014 0.53290999]
[0.11740645 0.67840467]
[0.12765227 0.80280645]
[0.5150869 0.70268598]
[0.28524502 0.60967811]
[0.4267256 0.74930993]
[0.03010548 0.86980535]
[0.6183038 0.55755878]]
Voronoi Diagram: {'_qhull': None, 'vertices': array([[ 0.41449 , 0.34535946],
[ 0.67906863, -0.66619644],
[ 0.47225333, 0.30481744],
[ 0.25380698, 0.3456744 ],
[ 0.91079731, 0.36472112],
[ 0.99138219, 0.41060891],
[ 0.67906681, 0.36830418],
[ 0.67996663, 0.70958173],
[ 2.01643272, 6.69495667],
[ 0.17348724, 0.57605642],
[ 0.6795911 , 0.71041573],
[ 0.76516462, 1.28367369],
[ 0.445571 , 0.54397671],
[ 0.4148807 , 0.61981885],
[-5.81422356, 0.09333896],
[-0.0103476 , 0.64220945],
[ 0.31392413, 0.72211211],
[ 0.18770202, 0.61077065],
[ 0.36159338, 1.24792298],
[ 0.29049231, 0.850431 ],
[ 0.06812229, 0.8206449 ],
[ 0.104503 , 0.74209022],
[ 0.14154949, 0.73903905]]), 'ridge_points': array([[10, 11],
[10, 6],
[10, 9],
[10, 12],
[10, 2],
[ 0, 12],
[ 0, 11],
[ 0, 14],
[ 0, 9],
[12, 11],
[12, 9],
[11, 14],
[ 5, 14],
[ 5, 9],
[ 5, 7],
[ 5, 6],
 [14, 8],
[14, 9],
[14, 7],
[ 9, 6],
[ 2, 6],
[ 2, 8],
[ 2, 3],
[ 2, 13],
[ 6, 3],
[ 6, 7],
[ 6, 1],
[ 4, 7],
[ 4, 8],
[ 4, 1],
[ 4, 13],
[ 4, 3],
[ 7, 8],
[ 7, 1],
[ 8, 13],
[ 1, 3],
[13, 3]], dtype=int32), 'ridge_vertices': [[-1, 1], [0, 3], [0, 2], [1, 2],
[-1, 3], [4, 6], [4, 5], [5, 7], [6, 7], [1, 4], [2, 6], [-1, 5], [10, 11], [10,
12], [11, 13], [12, 13], [-1, 8], [7, 10], [8, 11], [0, 12], [3, 9], [-1, 14], [9,
15], [14, 15], [9, 17], [13, 16], [16, 17], [18, 19], [18, 20], [19, 22], [20, 21],
[21, 22], [8, 18], [16, 19], [14, 20], [17, 22], [15, 21]], 'regions': [[-1, 1, 2,
0, 3], [], [7, 5, 4, 6], [6, 2, 1, 4], [5, -1, 1, 4], [13, 11, 10, 12], [11, 8, -1,
5, 7, 10], [12, 0, 2, 6, 7, 10], [15, 9, 3, -1, 14], [17, 9, 3, 0, 12, 13, 16],
[22, 19, 18, 20, 21], [19, 16, 13, 11, 8, 18], [20, 14, -1, 8, 18], [22, 17, 16,
19], [21, 15, 14, 20], [22, 17, 9, 15, 21]], 'point_region': array([ 2, 13, 8, 15,
10, 5, 9, 11, 12, 7, 0, 4, 3, 14, 6],
dtype=int64), '_ridge_dict': None, '_points': array([[0.74082695,
0.55723574],
[0.19879018, 0.70768753],
[0.06505014, 0.53290999],
[0.11740645, 0.67840467],
[0.12765227, 0.80280645],
[0.5150869 , 0.70268598],
[0.28524502, 0.60967811],
[0.4267256 , 0.74930993],
[0.03010548, 0.86980535],
[0.6183038 , 0.55755878],
[0.28420987, 0.08154948],
[0.98962821, 0.12030858],
[0.73495623, 0.17755351],
[0.04322389, 0.76370548],
[0.8346663 , 0.65498052]]), 'ndim': 2, 'npoints': 15, 'min_bound':
array([0.03010548, 0.08154948]), 'max_bound': array([0.98962821, 0.86980535]),
'furthest_site': False}
The thread 'MainThread' (0x1) has exited with code 0 (0x0).
The program 'python.exe' has exited with code 4294967295 (0xffffffff).