Map Four


 This map also contains square obstacles; the main difference being that they are all the


same size and the arrangement is not randomized as in the previous example. This search


space is slightly more complex due to the number of obstacles present and the circular


arrangement throughout the space. The results are shown in figure 5.8.


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 Figure 5.8a: Map 4, 2 Robots,
 Shadow Area = 220
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Figure 5.8b: Map 4, 3 Robots,
 Shadow Area = 108


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Figure 5.8c: Map 4, 4 Robots,
Shadow Area = 27


Figure 5.8: Results for Map 4


Figure 5.8d: Map 4, 5 Robots,
 Shadow Area = 32


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