**5. Simulation Results and Analysis**

In this section, we implemented the proposed MOGWO exploration and analyzed the obtained results. As alternatives, there are varying parameters for testing the simulation performance such as the number of waypoints and the number of iterations. The parameters are used to test the algorithm performance in several ways. However, some parameters were maintained as constant throughout all the simulation runs (see Table 1).



The major goal, which we seek to attain, is to know how many iterations and how many waypoints are needed for efficient exploration. If the number of iterations is too low, the robots do not have time to explore the entire map physically considering that the size of the step in each iteration is unchanged. The same is true for the number of waypoints. They should be enough for free robot driving in the environment. In the next subsection, the experiments with certain constraints are presented, and the Pareto optimal set is proposed for the selection of the optimal solution of the environment.
