No.

of Robots
5
10
15
20
25
30
35
40
45
50

Approach-1
Leader to Follower
14
54
119
209
324
464
629
819
1034
1274

Approach-2
Follower to Follower
Total
10
4
14
31
8
39
86
19 105
133
23 156
200
24 224
336
43 379
477
69 546
600
86 686
748
88 836
884
112 996

Leader to Follower

Messages Exchanged

Figure-1: Strongly Centralized Approach

1400
1300
1200
1100
1000
900
800
700
600
500
400
300
200
100
0

1274
1034
819
629
464
324

14 54
5
10 15

209

119
20

25

30

35

40

45

50

55

60

No. of Robots

Messages Exchanged

Figure-2: Weakly Centralized Approach

1400
1300
1200
1100
1000
900
800
700
600
500
400
300
200
100
0

996
836
686
546

379

39

14
5

10

156

15

224

133

86

31

10
0

105

20

25

884
748

600
477

336
200
30

No. of Robots

35

40

45

50

55