each map and save the corresponding results to a file. A GUI was not created, however

the corresponding results and data were saved in a ppm (portable pixmap) file format that

could be opened and viewed at a later time. This file format is relatively easy to encode,

as it is the most simplistic format for color images (see figure 5.14).

 P6
 256 256
 255
 0 255 63 9 85 2A......

 Figure 5.14: Sample ppm file and header information (first 3 lines)

The first line indicates the ppm type, which can either be a binary or ASCII format. The

second line contains the height and width of the image. For these images the height and

width are the same. The third line contains the maximum RGB values contained within

the image. The rest of the file contains all of the RGB values for each pixel in the image.

The results for the higher resolution maps will be presented in the next six sections

Map One

 The first map or search space that was tested consisted of a single obstacle placed in

the center of the space. This is an extremely simplistic search space and yields

interesting results as more robots are added to the solution. It would be difficult, if not

impossible, to eliminate the shadow area for the two-robot configuration while

simultaneously fulfilling the line-of-sight criteria.

 The addition of a third robot provides an optimal solution for this map. Addition of a

fourth and fifth robot also result in optimal solutions, each having shadow areas of zero.

The graphical results are provided in figure 5.15.