From the plots shown in figure 5.22 it is interesting to note that the four-robot case
converged to a zero solution in approximately four minutes, while the five-robot case
converged to a zero solution in approximately two minutes. Addition of a fifth robot
decreased the time in which the algorithm converged to zero. This is an intuitive result
because addition of another robot serves to maximize the coverage area therefore
expediting the search for the optimal solution.
10000
-2 Robots
9000 3 Robots
000 4 Robots
-5 Robots
7000
S6000
0
m 5000
4000
E
L 3000
2000
1000
0 100 200 300 400 500 600
Time (sec)
Figure 5.22: Map 4 rates of convergence for 2-5 robots after 200 generations
Map Five
This map is composed of six obstacles; four of which are clustered together and the
remaining two are spread farther apart. The results gradually improve as another robot is
added to the solution. Although the five-robot case does not obtain a shadow area of
zero, a drastic improvement is made when compared with the two-robot case.