Figure 2.3: A sample 64x64 resolution map

 This simplification greatly reduces area calculations and eliminates the need to


differentiate between convex and non-convex polygons. A sample map is shown in


figure 2.3. The map information is stored in a file that contains the points (x,y) that make


up the obstacles. The program reads this file and is able to display the map to the screen


graphically. An added benefit this method provides is the ease in displaying the graphics


to the application window. A matrix can represent the map in figure 2.3 and the robots


can be placed at points within the matrix, other than those occupied by obstacles.


 Initial Line-of-Sight Method

 Robot communication is an area that is essential to robot development. Whether


robots are communicating with a human operator or amongst themselves, there are


limitations. Much of the time the limiting factor is that the robot must maintain line-of-


sight to be able to communicate. Line-of-site communications is often a mission
 . . . .. :. . . . . . . .
 . . . . . . .:. . . . . . . .
 . . . . ;. . . . . .. .
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 Thissimpifictio gretly edues aea clcultios an eliinaes te ned t
 diffrentatebetwen onve andnonconvx plygos. Asamle mp i shon i

 figue 23. he ap nforatin i stredin fil tht cntans he pint (xy) hatmak
 up te ostaces.The rogam radsthisfil andis ble o dspla th mapto he sree
 grapicaly.An ddedbenfitthi metod rovdesis te ese n dsplaingthegrahic
 to te aplictionwinow. marix an epreentthe ap n fiure2.3 nd he rbot
 can e plced t ponts ithn th matix, therthanthoe ocupie by bstales
 Initial Line-f-Sigh Metho
 Robo comuniatio isan aea tat s esental t robt dvelomen. Whthe
 robos ar comuniatin wih a umanopeatoror aongt thmselesther ar
 limiatins.Muchof he imethe imiingfactr i tht te root ustmainainlin-of


 sightto beableto comunicte. ine-o-sitecommnicatons i oftn a mssio