Table 7: Distance of the objects from the robots and the spaces.

 

J1

J2

J3

J4

R1

107.1168

133.2554

90.82401

86.68333

R2

13.92839

69.26038

111.036

126.1507

S1

128.8177

98.9798

30.4795

17.72005

S2

116.2497

80.23092

20.22375

22.67157

S3

105.9906

62.26556

26.24881

38.91015

S4

98.76234

46.01087

42.05948

57.56735