positions are optimal for maximizing map coverage while maintaining line-of-sight

communications. The results are shown in figure 5.21.


Figure 5.21a: Map 4, 2 Robots,
Shadow Area = 4749


Figure 5.21a: Map 4, 3 Robots,
 Shadow Area = 364


Figure 5.21c: Map 4, 4 Robots,
Shadow Area = 0


Figure 5.21d: Map 4, 5 Robots,
 Shadow Area = 0


Figure 5.21: Results for Map 4