K-Means Radial

Move along radial partitions, perform K-Means, among the best
n-clusters (here set as 5) find the closest one, and move to it. When
the collected rats are more than the given threshold, drop them off,
and continue. When you change to phase 3 (no sweeper phase here
though), move to radial positions, use greedy method in your partition
until all the rats are collected, then drop them off.