Some of the algorithms are analysed in the paper:

"MAC vs. PC - Determinism and Randomness as Complementary Approaches to Robotic Exploration", by: I.A. Wagner, M. Lindenbaum, A.M. Bruckstein, International Journal of Robotics Research, Volume: 19, Number: 1, January 2000, pp. 12-31.

JAVA program design: I. A. Wagner