The time step of the physical engine is set to 10 ms, which is a compromise
between speed of the simulation and its stability. For the
purposes of simplicity, the size of each module is 1 map unit and
other lengths are described in this unit. The nearest neighbors are
searched using the KD-Tree data structure provided by the MPNN
library [54]. The distances between the configurations of the robots
are measured using the 6D Euclidean metric.