Research Article
Swarm Robot Exploration Strategy for Path Formation Tasks Inspired by Physarum polycephalum
| | counter_l ← 0//counterl is used to record the time when Robot_Explorer does not exist around | | | counter_2 ← 0//counter2 is used to record the time when Robot_Explorer exists around | | | Flag_Contraction ← False//Flag_Contraction is used to determine whether this branch is in a contracted state. | | | loop | | | if C_Node = null then//this Robot_Node is at the end of the branch. | | | for all neighbors n do | | | if state(n) = Robot_Explorer then | | | counter_2 ++ | | | counter_1 = 0 | | | break | | | if Do not exist Robot_Explorer in all neighbors n then | | | counter_l ++ | | | counter_2 = 0 | | | //Robot_Explorers can expand on this branch but they do not exist at the end for a long time. | | | if counter_l > PERIOD_TIME_1 and Flag_Contraction = False then | | | state ← Robot_Lost | | | //No child nodes generated for a long time | | | if counter_2 >PERIOD_TIME_2 and Flag_Contraction = False then | | | Flag_Contraction = true | | | transmit Flag_Contraction (self)//pass the message that this branch is in a contracted state. | | | state ← Robot_Explorer | | | //Robot_Explorers cannot expand on this branch and they do not exist at the end of it. | | | if counterl. >PERIOD_TIME_1 and Flag_Contraction = true then | | | //Keep the last Robot_Node as a marker. Do not repeat the search in this area. | | | if Root_ID(self) ≠ ID(P_Node) then | | | state ← Robot_Explorer | | | else//not at the end of branch | | | for all neighbors n do | | | if ID (n) = C_Node and Root_ID (n) = Root_ID (self) then | | | Flag_Contraction (self ← Flag_Contraction (C_Node) | | | transmit Flag_Contraction (self) | | | break |
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