This example allows you add, move, or remove robots from the network (left-click, drag and drop, and right-click, respectively).
Robots exchange their coordinates and move incrementally to a proper location based on virtual forces that combine spring forces, to regulate the distance between nodes, and angular forces, to regulate the angles between nodes in absence of triangle. The latter has the effect of biconnecting the network, thereby making it tolerant to the failure of any single node.
The demo can be launched in the top-right corner of this page (click the load button and wait a bit).
More technical details in the paper:
A. Casteigts, J. Albert, S. Chaumette, A. Nayak, and I. Stojmenovic,
Biconnecting a network of mobile robots using virtual angular forces,
Computer Communications, 35(9):1038-1046, 2012.