This section presented the results obtained for two vastly different techniques. The

exhaustive search technique was a starting point for this research. Initial experiments

were conducted with various maps using the exhaustive search technique for the two-

robot case. Collecting data using this technique was extremely laborious and time

consuming. Addition of even a third robot to the problem would increase the processing

time exponentially. Other techniques such as the golden section method, steepest descent

technique, and Monte Carlo programming, were investigated and the genetic algorithm

optimization technique was finally chosen due to the ease of implementation with the

current algorithm.

 The following table summarizes the specifications of the computers that were used

and the specifications that the genetic algorithm required.

 64x64 Maps 256x256 Maps
Computer Specifications: Pentium 3, 1GHz Processor Pentium 4, 2GHz Processor
 256 MB RAM 512 MB RAM
Genetic Algorithm:
 Population 10 20
 Generations 100 200
 Mutation Rate 2% 2%
 Table 5.1: Summary of computer specifications and genetic algorithm specifications
 for both types of maps