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

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="678210.fig.008a" src="https://static.hindawi.com/articles/mpe/volume-2014/678210/figures/678210.fig.008a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Two robots starting inspection from two different entrances</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="678210.fig.008b" src="https://static.hindawi.com/articles/mpe/volume-2014/678210/figures/678210.fig.008b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Two robots inspecting as they navigate in the environment</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="678210.fig.008c" src="https://static.hindawi.com/articles/mpe/volume-2014/678210/figures/678210.fig.008c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Two robots inspecting different locations with different positions</td></tr></table></td></tr></table>

<table>Different experimental behaviours for two robots.</table>

Mathematical Problems in Engineering

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Figure 8

Figure 8: Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains 