By visual inspection of the two-robot case, this arrangement of obstacles within the


search space limits the robot positions such that they still fulfill the line-of-sight criteria.


The algorithm successfully positions the robots for all four scenarios. It is interesting to


note that the four-robot configuration has a resulting shadow area of 27 and the addition


of another robot does not improve this result. Therefore, if the objective were to


minimize the shadow area and minimize the number of robots used, then the solution to


this problem would be the four-robot configuration. The convergence rates for each


scenario are shown in figure 5.9.


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

 S300
 o
 S250

 .E 200
 E
 U 150

 100 -

 50 -

 0
 0 5 10 15 20
 Time (sec)



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

Map Five

 This map contains different sized square obstacles that are randomly placed


throughout the search space. For this particular space the five-robot configuration has the


lowest shadow area. This is an intuitive result and is primarily due to the placement of a