time for the five-robot configuration is approximately 11 minutes. A plot of the rates of

convergence for this map is shown in figure 5.20.


 3500
 2 Robots
 3000 3 Robots
 4 Robots
 5 Robots
 2500 -


 O 2000


 1500
 E

 0
 0 1000 -


 500


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

 Figure 5.20: Map 3 rates of convergence for 2-5 robots after 200 generations

Map Four

 Four larger obstacles are incorporated into this search space. Although this map is

somewhat cluttered and a higher-resolution image the algorithm performs as expected.

Once again, the obstacles have been randomly placed throughout the space using a

custom program written in the C programming language.

 The two-robot case resulted in the greatest shadow area followed sequentially by the

other three cases. Both the four- and five-robot configurations result in the optimal

solution of a shadow area equal to zero. For the four- and five-robot cases the final robot