Figure 8
The grid of ten line plots in 2 columns and 5 rows displays binary transitions between “Safe” and “Danger” zones for Robot 1 through Robot 10 over time on the horizontal axis labeled “Time (second),” ranging from 0 to 350 with an interval of 50. Each plot is labeled with the respective robot, and the lines toggle between a lower “Safe” state and an upper “Danger” state as time progresses. The color and line style for each plot match the robot’s assigned color: Robot 1 (red line), Robot 2 (red dash-dotted line), Robot 3 (blue line), Robot 4 (blue dash-dotted line), Robot 5 (black line), Robot 6 (black dash-dotted line), Robot 7 (olive line), Robot 8 (olive dash-dotted line), Robot 9 (green line), and Robot 10 (green dash-dotted line). The binary zone status for Robot 1 through Robot 10 are as follows: Robot 1: The curve remains in the Danger region except for two short dips into Safe at around 85 and 275 seconds, showing minimal fluctuation. Robot 2: The curve stays in Danger, briefly dropping into Safe just before and after 200 seconds, with two downward jumps and returns. Robot 3: It displays greater fluctuation with a series of distinct dips from Danger to Safe at around 70, 80, and near 340 seconds, showing prolonged intervals in Safe. Robot 4: It exhibits several sharp transitions, shifting from Danger into Safe multiple times before returning, at intervals near 40, 70, 210, 220, and 280 seconds, indicating frequent state change. Robot 5: The line spends most time in Safe, features frequent and sharp peaks into Danger from about 70 to 180 seconds, then briefly revisits Danger near 340 seconds. Robot 6: It shows one isolated drop into Safe at 200 seconds, with the remainder spent in Danger. Robot 7: It shows transitions into Safe at about 110, 210, and finally at 345 seconds, with long intervals in Danger in between. Robot 8: It demonstrates frequent, rapid fluctuations between Danger and Safe, especially from 125 to 305 seconds, suggesting this robot oscillates between both zones much more than others. Robot 9: The curve is primarily in the Danger state, with frequent distinct downward jumps into Safe near 30–60, 175–210, and 265–285 seconds. Robot 10: It exhibits many rapid and brief fluctuations between Danger and Safe before 140 seconds, then maintains longer periods in each state with a cluster of short dips into Safe between 250 and 355 seconds. Note: All the numerical data values are approximated.Modes of operation in time. “Danger” means that robots need to act to avoid collisions; “Safe” means that robots are free from collisions and move along their paths. Source: This study