test

/*Description environnement et capacité robot*/
World :
Sync := FSYNC 
Space := R2
Rigidity := Rigid
Byzantine := 8 /*Correspond à 1/8*/


Robot := Private : 
         Public : 

Sensors := Range :  Limited r; 
           Multiplicity : No;
           Opacity: Opaque
ActivelyUpdate := Location
Share := Fullcompass 

Robogram : 

let c = Obs.elements in 
match c with
| nil -> (0;0)
| pt :: nil -> pt
| _ :: _ :: _ -> Geometry.isobarycenter c
end 

Measure:(a,b)

Gd -> Gc
Gd -> Maj
Gc -> [Id;Ic;Sd;Ec;Dd;Dc;Maj]
Id -> [Ic;Maj]
Sd -> [Sc;Maj] 
Ed -> [Ec;Maj]
Ic -> [Maj;Gathered]
Sc -> [Maj;Gathered]
Ec -> [Maj;Gathered;Dd]
Dd -> Dc
Dd -> Maj
Dc -> Gathered 
Dc -> Maj
Maj -> Gathered