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

Figure 11

Box-and-whisker plots (Becker et al. 1998 [41]) showing 100 evaluations per box of the completion times with varying Robot_Nest-to-Robot_Food distances for a group of 15 robots in an environment without obstacles. See Figure 10 for an explanation of box-and-whisker plots.