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

<table>Events and transition diagram of the modeled environment with <svg height="11.175" id="M34" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 15.0375 11.175" width="15.0375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> as goal state.</table>

Mathematical Problems in Engineering

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Figure 5

Figure 5: Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains 