Solving the filling problem with the visibility range of 1

This paper discusses new methodologies of discovering areas with inexpensive autonomous robots. Consider a set of robots which has to disperse through the area in order to cover it. The area is divided into smaller cells and each cell has to be occupied by exactly one robot. When the robots are injected into the area one at a time the problem is called Filling. The main challenges arise from the limited capabilities of the robots: in this paper they do not have any means of explicit communication and their sensing range is limited to 1.