This paper addresses a problem of finding distributed controllers for the robotic mass games, that is, to let robots organize themselves into a formation displaying a given grayscale image, over r-disk proximity networks. For solving this problem, we first extend the existing performance index representing the achievement degree of the mass games to the mass games over r-disk proximity networks. Based on this, we propose a solution to the problem and prove that the resulting formation locally

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... nimizes the extended performance index. By numerical experiments with the standard image, it is demonstrated that the proposed controllers achieve the mass games.