The results obtained from this map are interesting because the best solution is found to

be the four-robot configuration. With a total shadow area of three grid points this

solution outperforms the five-robot configuration. By visual inspection, the four-robot

configuration appears to cover more of the map area, which is confirmed by the

algorithm.

 Plots of the shadow areas versus time are shown in figure 5.7. The four-robot

configuration took a total of 11 second to converge and the five-robot configuration took

a total of 15 second to converge. Once again, the algorithm terminates after it has cycled

through 100 generations in the genetic algorithm.


 500
 2 Robots
 450
 3 Robots
 400 -4 Robots
 5 Robots
 w 350

 g 300
 0
 = 250

 S200

 0 150

 100


 0 -'--__
 0 -----------------------------------
 0 2 4 6 8 10 12 14
 Time (sec)



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