Swarm Robot Exploration Strategy for Path Formation Tasks Inspired by Physarum polycephalum

Algorithm 4

Extinction mechanism. B_UL represents the distance between the Robot_Nodes.

(1)	loop
(2)	N_Num ← 0//N_Num will store the number of Robot_Nests and Robot_Nodes in neighbors.
(3)	Object_N ← MAX_DISTANCE//Object_N will store the neighbor object.
(4)	for all neighbors n do
(5)	if state(n) = Robot_Node or state(n) = Robot_Nest then
(6)	N_Num = N_Num++
(7)	Object_N ← n
(8)	if N_Num = 1 then//only one Robot_Node or Robot_Nest can be sensed.
(9)	if Flag_Contraction(Object) ≠ TRUE then//the branch status requirements.
(10)	if measured_distance(Object_N) > B_UL then//the distance requirements.
(11)	state ← Robot_Explorer