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This study proposes a framework for the use of mobile robots namely RIZOBots in form studies in the early phases of design. The proposed framework was tested in two experiments. An agent-based model was utilized for the movement of mobile robots, a drawing task was defined as the task. In particular, rule sets for agent-agent and agent-environment interaction were used. Light-sensitivity rules were utilized to achieve agent-environment interaction, apart from obstacle detection. This study focuses on the effects of two different zone-related states on the behavior of RIZOBot which is a configurable differential-drive wheeled robot developed by authors using off-the-shelf products and 3D printed body parts. Two zone types with very basic features are used to define environmental conditions. The traces left on the canvas, the irregularities in the movement of the robots, and the robot-environment interaction will be evaluated in the study. The results and analysis of the two selected experiments are presented and the potential of the proposed framework is discussed.