Solving the robotic swarm coverage problem for an elliptical area has various applications for exploring novel environments. Solutions for this problem should cover a specified ellipse and seamlessly adapt to changing numbers of robots. Previous solutions used techniques such as formation control. vector fields. https://www.roneverhart.com/GLYKON-BAYONET-BEAD-BLAST-OVERLAY-STONEWASH-STANDARD-NICKEL-BORON-INTERNALS-184-10/