This algorithm not only serves to determine the optimal robot placement but also
inadvertently provides some insight as to the number of robots necessary to cover the
search space most efficiently. The plots of the rates of convergence are shown in figure
5.26 and note that the four-robot case provides smallest shadow area in approximately
580 seconds or 9.6 minutes.
20000
2 Robots
18000 3 Robots
4 Robots
16000 5 Robots
14000
| 12000
0o
10000
E 8000
E
O 6000
4000
2000 -
0 -
0 100 200 300 400 500 600 700
Time (sec)
Figure 5.26: Map 6 rates of convergence for 2-5 robots after 200 generations
All of the examples shown in the previous sections provide a reasonable estimate of
the visible as well as hidden area from the robots' perspectives. These results are
affected by the number of individuals used in the population and the number of
generations incorporated into the genetic algorithm. Better results may be obtained by
allowing the algorithm to run for a longer period of time. The final results proved to
accomplish the overall objective of this work. The next section will compare the results