Maze 1 Solution
This image shows the end of a simulator run where "Maze 1" has been solved by 3 robots. There are fixed repeaters/beacons in the bottom left and top left grid positions. The other three robots start in the vicinity of the at the lower left and move into position so that messages can be passed between all the robots and beacons, either directly or through repeater action.
The radio waves in the simulation, as in the real world, tend to refract around the edges of barriers.
If some grid lines are missing, expand your browser window.