Self-organized Multi-agent System for Robot Deployment in Unknown Environments - Foundations on Natural and Artificial Computation - page 169

Fig. 5. Camera's Call Thread flow chart
Fig. 6. Robot's Network Thread flow chart
should know their neighbours, and the Neighbourhood Regions amongst them.
To get this information we follow the following procedure: as we can see in
Fig. 3, whenever the Vision Thread of the camera detects a robot, it stores
its position and broadcasts it to all the other cameras (C2R MARKERPOS).