*6.1. Simulation Setup*

All simulations were conducted over *MORSE* physics simulator (www.openrobots.org/morse/ doc/stable/morse.html) using *ATRV*-like robots equipped with laser range sensors. The more relevant simulation parameters are shown in Table 3.

Furthermore, it is important to precise that except for *Communication range* that depends on the device, the rest of communication factors were taken from [38] regarding their strong dependency on the materials present in the environment. The values of *HO-Threshold* correspond to 66%, 50%, and 33% of the communication range *ci*, respectively. In all simulations localisation and low level motion control are taken for granted.


**Table 3.** Simulation setup.
