of a fourth robot, however, addition of the fifth robot results in an increase in the shadow area. Although this is a complex map, the algorithm succeeds at finding reasonable solutions for each situation. The results are displayed in figure 5.25. Figure 5.25a: Map 6, 2 Robots, Shadow Area = 8348 Figure 5.25b: Map 6, 3 Robots, Shadow Area = 1320 Figure 5.25c: Map 6, 4 Robots, Shadow Area = 962 Figure 5.25d: Map 6, 5 Robots, Shadow Area= 1197 Figure 5.25: Results for Map 6