Since the radius of a circle is at most 5, we only need to check the status of 10 blocks before it, which could be represented as a binary number. Let dpi,j be the number of ways to draw circles whose right boundary is i, with mask of j. Here if the k-th bit of the mask is 1, it means that you can put a circle whose left boundary is i−k.
For a fixed right boundary, there are 5 possible positions for center, so 25 circle combinations. So our strategy is that for each position, we check 210 masks and 25 circle combinations, then transition if possible.
In order to make coding easier, we could calculate some helper array: le is the mask for the left boundary of the corresponding center mask, all the bits in mhi[i] to the right of the highest bit of le[i] is set to 1 to make positions inside the circle unavailable for the next position.