Notes:
• This is an implementation of a simple algorithm that is based on contraction of the convex hull by moving the corner robots (while side robots and interior robots are stationary).
• Each number next to a robot indicates the angle formed between that robot and its adjacent neighbors. At termination, none of the angles can be greater or equal to 180 degrees.
• Termination occurs when all robots become corner of a (possibly) smaller convex hull, thereby achieving mutual visibility.
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