Priority evacuation from a disk: The case of n = 1,2,3

An exit (or target) is at an unknown location on the perimeter of a unit disk. A group of n+1 robots (in our case, n=1,2,3), initially located at the centre of the disk, are tasked with finding the exit. The robots have unique identities, share the same coordinate system, move at maximum speed 1 and are able to communicate wirelessly the position of the exit once found. Among them there is a distinguished robot called the queen and the remainder of the robots are referred to as servants. It is known that with two robots searching, the room can be evacuated (i.e., with both robots reaching the exit) in [Formula presented] time units and this is optimal [11]. Somewhat surprisingly, in this paper we show that if the goal is to have the q