... superimposed Swarm Robotics, From Biology to Robotics1 4 ))05.0(5(sin) (3 4 /36 xxF (6) ))05.0(5(sin))854.08.0)(2log(2exp()(44 /36 2 xxxF (7) Plots for the function F3 and F4 ... Transactions on Evolutionary Computation, vol. 6, pp. 58- 73, 2002. Swarm Robotics, From Biology to Robotics1 8 Wait time = waitfactor * (e(measurement)-1) (11) For the parameter selection, ... graph, tmax was set to 1600 and waitfactor was set to 4. For the found rate vs tmax graph, nbots= 30 0 and waitfactor = 4. -5 -4 -3 -2 -1 0 1 2 3 4 5-5-4 -3 -2-1012 3 45 Fig. 10. Typical...