Optimization of Power Utilization in Multimobile Robot Foraging Behavior Inspired by Honeybees System

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td align="left">Remaining energy </td><td align="center">Behaviors</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td align="left"><span style="width: 19.9625px;"><svg height="15.4" id="M1" style="vertical-align:-3.21404pt" version="1.1" viewbox="0 0 19.9625 15.4" width="19.9625" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> <svg height="15.4" id="M3" style="vertical-align:-3.22281pt" version="1.1" viewbox="0 0 21.549999 15.4" width="21.549999" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M609 650l-19 -162l-30 -2q2 69 -14 94q-9 18 -28.5 26t-74.5 8h-88q-30 0 -37 -6.5t-12 -36.5l-41 -212h103q48 0 69 5.5t32 19t26 50.5h29l-40 -198h-30q2 58 -11.5 70.5t-85.5 12.5h-99l-30 -167q-17 -87 3 -101q18 -15 111 -15q59 0 89 7t54 27q8 7 15.5 16t16 21.5
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<g transform="matrix(.012,-0,0,-.012,10.8,15.187)"><path d="M298 36l-68 -35q-25 -13 -42 -13q-98 0 -98 119v290h-69l-4 11l28 29h45v72l65 67l14 -2v-137h113q8 -8 6 -21t-12 -19h-107v-256q0 -96 59 -96q29 0 61 17z" id="x74"></path></g><g transform="matrix(.012,-0,0,-.012,14.501,15.187)"><path d="M513 0h-211v26q44 5 55 17t11 60v166q0 123 -98 123q-59 0 -104 -51v-238q0 -48 10 -60.5t55 -16.5v-26h-213l1 26q46 4 57 16t11 61v477q0 48 -9.5 58.5t-58.5 14.5v24q63 9 147 35v-336q73 73 143 73q64 0 101 -42t37 -129v-175q0 -49 11 -61t55 -16v-26z" id="x68"></path></g>
</svg></span></td><td align="center">Robot's worker</td></tr><tr><td align="left"><svg height="18.362499" id="M4" style="vertical-align:-4.77652pt" version="1.1" viewbox="0 0 19.125 18.362499" width="19.125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M609 650l-19 -162l-30 -2q2 69 -14 94q-9 18 -28.5 26t-74.5 8h-88q-30 0 -37 -6.5t-12 -36.5l-41 -212h103q48 0 69 5.5t32 19t26 50.5h29l-40 -198h-30q2 58 -11.5 70.5t-85.5 12.5h-99l-30 -167q-17 -87 3 -101q18 -15 111 -15q59 0 89 7t54 27q8 7 15.5 16t16 21.5
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<g transform="matrix(.012,-0,0,-.012,10.8,15.188)"><path d="M619 670q0 -13 -9 -26t-18 -19q-13 -10 -25 2q-36 38 -66 38q-31 0 -54.5 -50t-45.5 -185h120l-20 -31l-107 -12q-23 -138 -57 -293q-27 -122 -55 -184.5t-75 -109.5q-60 -61 -114 -61q-25 0 -47.5 15t-22.5 31q0 17 31 44q11 8 20 -1q10 -11 31 -19t35 -8q26 0 47 19
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</svg> &lt; <svg height="15.4" id="M5" style="vertical-align:-3.22281pt" version="1.1" viewbox="0 0 21.549999 15.4" width="21.549999" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M609 650l-19 -162l-30 -2q2 69 -14 94q-9 18 -28.5 26t-74.5 8h-88q-30 0 -37 -6.5t-12 -36.5l-41 -212h103q48 0 69 5.5t32 19t26 50.5h29l-40 -198h-30q2 58 -11.5 70.5t-85.5 12.5h-99l-30 -167q-17 -87 3 -101q18 -15 111 -15q59 0 89 7t54 27q8 7 15.5 16t16 21.5
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<g transform="matrix(.012,-0,0,-.012,10.8,15.187)"><path d="M298 36l-68 -35q-25 -13 -42 -13q-98 0 -98 119v290h-69l-4 11l28 29h45v72l65 67l14 -2v-137h113q8 -8 6 -21t-12 -19h-107v-256q0 -96 59 -96q29 0 61 17z" id="x74"></path></g><g transform="matrix(.012,-0,0,-.012,14.501,15.187)"><path d="M513 0h-211v26q44 5 55 17t11 60v166q0 123 -98 123q-59 0 -104 -51v-238q0 -48 10 -60.5t55 -16.5v-26h-213l1 26q46 4 57 16t11 61v477q0 48 -9.5 58.5t-58.5 14.5v24q63 9 147 35v-336q73 73 143 73q64 0 101 -42t37 -129v-175q0 -49 11 -61t55 -16v-26z" id="x68"></path></g>
</svg></td><td align="center">Robot's forager</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Threshold energy of behavior mobile robot.

The Scientific World Journal

tab2

Table 2

Table 2: Optimization of Power Utilization in Multimobile Robot Foraging Behavior Inspired by Honeybees System 