Research Article

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

Figure 7

Example of the motion mechanism. The dash-dotted lines represent the interrobot communication network. The purple arrows represent the repulsive forces of Robot_Nodes with a gradient value of 1 on Robot_Explorer in the time step. The red arrow represents the attractive force of a Robot_Node with a gradient value of 2. is the obstacle avoidance direction. is the sum of all the above vectors.