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F. and P. Osition-if-r-i-=-p-i, Functions: T rajectory i : the segment that joins r i to p i N ext(P i ,P j ): returns true if x P i < x P j or, if (x P i = x P j ) and y P i < y P j ; otherwise returns false We can also say P i has P j as Next robot(position) Assignments to all the F ree Robots but the references and to all F reeP osition = p L but the anchorbolts of a sequential number from the robot (position) with the smaller value of x to the bigger. If two or more robots have the same x value, then consider their y value. 1) for (all r i = r me ) If (p me ? T rajectory i ) then Exit