Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains

Algorithm 4

Parameters for QLACS Example II.

Example II of QLACS (For good cooperation and communication between robots)

Parameters used in the second component of QLACS (Using output from the first component of QLACS)

Reward Scheme: Inspect = 50, Ignore = 100, Shutdown = 150

State space: Optimized path from QLACS_R1 = {𝐹,𝐸,𝐷,𝐴,𝐵,𝐶,𝐺,𝐶} and QLACS_R2 = {𝐶,𝐵,𝐴,𝐷,𝐹,𝐸,𝐺,𝐶}

Starting State: 𝐹/𝐶

𝑆_𝑗 = Terminating State: 𝐶 then 𝐻

Terminating condition: When all states have been visited.

Initialize 𝑄value positions to zeros

Equations

(i) Compute learning rate using (9)

(ii) Compute update on 𝑄(𝑠,𝑎) using (10)