Research Article
Swarm Robot Exploration Strategy for Path Formation Tasks Inspired by Physarum polycephalum
Algorithm 1
Gradient mechanism. GRADIENT_MAX is infinity.
| | loop | | | gradient_value (self) ← GRADIENT_MAX | | | SOURCE_TYPE(self) ← Robot_Food | | | //Store the minimum gradient value from Robot_Nest in the neighbor neighbor_min_gradient_1 ← GRADIENT_MAX | | | //Store the minimum gradient value from Robot_Nest in the neighbor neighbor_min_gradient_2 ← GRADIENT_MAX | | | for all neighbors n do | | | if SOURCE_TYPE (n) ← Robot_Nest then | | | if (then neighbor_min_gradient_1 > gradient_value (n)) | | | neighbor_min_gradient_1 ← neighbor_min_gradient_1 | | | else | | | if (then neighbor_min_gradient_2 > gradient_value (n)) | | | neighbor_min_gradient_1 ← neighbor_min_gradient_2 | | | //Update the gradient and SOURCE_TYPE | | | if neighbor_min_gradient_1 ≠ GRADIENT_MAX then//exist the gradient from Robot_Nest | | | SOURCE_TYPE (self) ← Robot_Nest | | | gradient_value (self) ← neighbor_min_gradient_1 + 1 | | | transmit gradient_value (self) | | | else if neighbor_min_gradient_2 ≠ GRADIENT_MAX then | | | SOURCE_TYPE (self) ← Robot_Food | | | gradient_value (self) ← neighbor_min_gradient_2 + 1 | | | transmit gradient_value (self) |
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