affects the time in which a solution is obtained. Figure 5.18 shows the corresponding

rates of convergence for the four situations. The three-robot takes approximately six

minutes to arrive at a solution and while the five-robot configuration takes approximately

four minutes to converge to the optimal solution of zero shadow area.


 0 100 200 300 400 500 600 700
 Time (sec)

 Figure 5.18: Map 2 rates of convergence for 2-5 robots after 200 generations

Map Three

 This map incorporates four obstacles into the search space. The results shown in

figure 5.19 indicate that the addition of a fourth robot increases the shadow area

considerably. This may be attributed to the random nature of the genetic algorithm.

Addition of a fifth robot to the solution further improves the final results. Only a

minimal amount of area is hidden from the five robots' views. This algorithm is