Drag the robots. Every pair within sensing range is an
enforced constraint. The certificate below is recomputed on every
move. Drag a robot to move it, the teal arrow to set its velocity and body axis together, or the orange dot to turn the body axis alone.
Fleet
robot — local program feasible
robot — no admissible input
velocity — drag the tip
body axis — thrust acts along it
Certificate
reserve M(x)—
robots—
enforced constraints—
|supp λ*|—
robots with leverage—
Local margin — how much room each robot has
Leverage — who a stronger actuator would help
Identical under every allocation: the joint
certificate does not depend on θ.