| INPUT: Edge distance(obstacles), pheromones, ants’ trail, associated probabilities, |
| starting and terminating indexes that is, from F or C |
| OUTPUT: Effective cooperation, inspection and navigation |
| (1) Boolean CompletedFlag = False //Boolean variable indicates completion for all the threads |
| (2) Declare CompletedThreadBuffer //Data structure stores Info about completed thread |
| (3) Initialize all values to Zero //All values positions are initialized to zero |
| (4) Initialize Best Paths From ACO algorithm //starting from and |
| (5) While (CompletedFlag <> True) //Checks for when all robots have finished and flag is true |
| Begin |
| Create N number of Threads in Parallel |
| Threads get Current States in Parallel from ACO algorithm |
| Threads get Next States and Indexes in Parallel from ACO algorithm |
| Threads compare values of all corresponding positions of Current States (Each Robot Broadcast |
| value info) |
| IF ((Q == 0) & (ThreadNextState <> GoalState)) //Checks if a particulate state is available |
| Begin |
| State is Available, Robot with the CurrentThreadID Inspects |
| Compute and Update value |
| End |
| IF (Q > 0) //checks if a state is not available, because an already inspected state has > 0 |
| Begin |
| State is already inspected, Robot with the CurrentThreadID Ignore |
| Compute and Update value |
| End |
| IF ((Q == 0) & (ThreadNextState == GoalState)) //Checks for goal state and shuts down. |
| Begin |
| Compute and Update value |
| Goal state is reached and Inspection Completed |
| Thread with the CurrentThreadID Shuts down |
| Store CurrentThreadID in CompletedThreadBuffer |
| End |
| IF (Count [CompletedThreadBuffer] == NumberOfRobot) //Learning stops when this happens |
| Begin |
| CompletedFlag = True |
| End |
| End of While Loop. |
