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