Toward Pleomorphic Reconfigurable Robots for Optimum Coverage

Algorithm 1

GA for determining Robot’s block size.

	Input: segmented metric map
	Output:
	Initialization;
	Generate initial population ;
	do
	evaluate_fitness ;
	Select best fits;
	Crossover;
	Mutation;
	while (! Stop condition);
	return best ;
	Function evaluate_fitness :
	Generate grid based on :
	Prepare occupancy grid map
	number of accessible cells;
	Compute fitness from (1) return fitness;
	End function