37



the number of obstacles, the coordinates for the center points and the corresponding


radius of each obstacle. This method limited the shape of the obstacles to being square


yet overlapping several obstacles could create other shapes. The results for map two are


shown in figure 5.4.


 :.. .. ;:-. :::. .-.








 ..,..... ......




 Figure 5.4a: Map 2, 2 Robots,
 Shadow Area = 24



 .......... .............




. . . . . .. . . . . . . . . .
 .. ::,:::.,- .- ,-





 . . ..... .... ..
 ::::: :: :::-*-::::: :












 Figure 5.4c: Map 2, 4 Robots,
 Shadow Area = 0


. . :. .i i .




 Figure 5.4b: Map 2, 3 Robots,
 Shadow Area = 9




: ;: ;*i:i *:: : :: *;: !:




 '.i: ^*i: <.









: : .f^:? :-:.:-::.: .




 Figure 5.4d: Map 2, 5 Robots,
 Shadow Area =0


Figure 5.4: Results for Map 2


~00000000000~000000000000~~ '
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