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

Table 1

Parameter settings for simulation experiments in a maze arena.

Symbol	Meaning	Units	Value
L × L	Search space	m × m	10×10
R	Communication radius	m	1.5
R	Detection radius	m	1.5
B_UL	Distance between the Robot_Nodes in a branch	m	0.7R < B_UL < 0.8R
D	Distance between the Robot_Nest and Robot_Food	m	7.07
N	System size	Count	{40, 45, 50,55,60,65,70}
O	Number of obstacles	Count	Non
Speed	Robot movement speed	cm/s	20