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

Table 8

Pheromone update of a full cycle.

Pheromone update
Current states	𝐹	𝐺	𝐸	𝐷	𝐴	𝐵	𝐶
𝐹	0.01	2.01	2.01	2.01	0.01	0.01	0.01	1st update
𝐸	0.01	2.66	2.01	2.66	0.01	2.66	0.01	2nd update
𝐷	3.13	0.01	3.03	0.01	3.03	0.01	0.01	3rd update
𝐴	0.01	0.01	0.01	0.45	0.01	0.45	0.01	4th update
𝐵	0.01	0.01	0.67	0.01	0.67	0.01	0.7	5th update
𝐶	0.01	0.91	0.01	0.01	0.01	0.89	0.01	6th update
𝐺	0.71	0.01	0.69	0.01	0.01	0.01	0.71	7th update

𝐶 = terminating state and ant 𝑘 has moved through all states at least once.
Trail: 𝐹𝐸𝐷𝐴𝐵𝐶𝐺𝐶.
Number of obstacles = 1 + 2 + 2 + 2 + 1 + 1 + 1 + 1 = 10.