Research Article
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 | | | | | | | | ā |
| | 0.01 | 2.01 | 2.01 | 2.01 | 0.01 | 0.01 | 0.01 |
1st update | | 0.01 | 2.66 | 2.01 | 2.66 | 0.01 | 2.66 | 0.01 |
2nd update | | 3.13 | 0.01 | 3.03 | 0.01 | 3.03 | 0.01 | 0.01 | 3rd update | | 0.01 | 0.01 | 0.01 | 0.45 | 0.01 | 0.45 | 0.01 | 4th update | | 0.01 | 0.01 | 0.67 | 0.01 | 0.67 | 0.01 | 0.7 | 5th update | | 0.01 | 0.91 | 0.01 | 0.01 | 0.01 | 0.89 | 0.01 | 6th update | | 0.71 | 0.01 | 0.69 | 0.01 | 0.01 | 0.01 | 0.71 | 7th update |
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= terminating state and ant has moved through all states at least once. Trail: . Number of obstacles = 1 + 2 + 2 + 2 + 1 + 1 + 1 + 1 = 10.
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