- Maze generation:
Wilson : uniform spanning tree, D ~ N.
Recursive DFS : longer paths, D ~ N^(5/4).
Comb : difficult for CTE.
Binary Tree : biased carving (north/east), diagonal flows.

- Algorithms:
Random DFS independent DFSs with random tie-breaking. No-communication.
CTE Greedy algorithm. Agents go to nearest unfinished subtree. Accelerated version (using complete communications).
LGA Locally greedy v3: reanchor with shared anchor counts.
OPT 2-approximation of offline algorithm. Full knowledge.

- Suggested parameters: Try with large number of robots (up to 50), high speeds, and large N (up to 300) to see nice patterns emerge.