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

Table 2

Parameter settings for experiments in a square arena.

Symbol	Meaning	Units	Value
L × L	Search space	m × m	5×5
R	Communication radius	m	{0.6}
R	Detection radius	m	{0.6}
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	{1.0, 1.2, 1.40, …, 3.0}
N	System size	Count	{5, 10, 15, 20}
O	Number of obstacles	Count	{0, 5, 10, …, 30}
Speed	Robot movement speed	cm/s	5