provided a solution for this type of global optimization problem. The final algorithm was

easily applicable to larger search spaces consisting of different maps and a variable

number of robots. This simulation is a starting point for future research and

implementation on an actual system.

 This research has provided some initial results for robot coordination and collaborative

control. The results reinforce the validity of the method as well as the technique used for

optimization of the solution. The speed at which a solution is obtained is also an

attractive feature of this algorithm. The genetic algorithm technique for optimization

provided a solution for this type of global optimization problem. The final algorithm was

easily applicable to larger search spaces consisting of different maps and a variable

number of robots. This simulation is a starting point for future research and

implementation of an actual system.