5.3: Map 1 convergence rates for 2-5 robots after 100 generations................. ........... 36

5.4: Results for M ap 2.................. ............. ...................... ........... 37

5.5: Map 2 convergence rates for 2-5 robots after 100 generations................. ........... 38

5.6: Results for M ap 3.................. .......... ............ .......... ............ 39

5.7: Map 3 convergence rates for 2-5 robots after 100 generations................. .......... 40

5.8: Results for M ap 4................................... .. ............ ...... ....... 41

5.9: Map 4 convergence rates for 2-5 robots after 100 generations................. .......... 42

5.10: Results for Map 5...................... ........................ .......... 43

5.11: Map 5 convergence rates for 2-5 robots after 100 generations............... ..................44

5.12: Results for M ap 6.................... .. .................. ............. ....45

5.13: Map 6 convergence rates for 2-5 robots after 100 generations............... ..................46

5.14: Sample ppm file and header information (first 3 lines)............................. .............47

5.15: Results for M ap 1............. ........ ................ ..... .......... 48

5.16: Map 1 convergence rates for 2-5 robots after 200 generations................................49

5.17: Results for M ap 2.................... .... ........................ .......... 50

5.18: Map 2 rates of convergence for 2-5 robots after 200 generations .............................51

5.19: Results for M ap 3............. ........ .................. ..... .......... 52

5.20: Map 3 rates of convergence for 2-5 robots after 200 generations .............................53

5.21: Results for M ap 4.................. .......... ............ .......... ............ 54

5.22: Map 4 rates of convergence for 2-5 robots after 200 generations .............................55

5.23: R results for M ap 5 ........... ................ ..................... ............ .. ............ 56

5.24: Map 5 rates of convergence for 2-5 robots after 200 generations .............................57

5.25: Results for M ap 6.................. .......... ...................... .......... 58

5.26: Map 6 rates of convergence for 2-5 robots after 200 generations .............................59

5.27 : R results for C om prison # 1 ........................................ .............................................6 1