Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains

Table 1

Variant of ACO.

S/N	Year	Algorithm
1	1991	Ant system (AS)
2	1992	Elitist A.S
3	1995	Ant-Q
4	1996	Ant colony system
5	1996	Max-Min A.S (MMAS)
6	1997	Ranked based A.S
7	1999	ANTS
8	2000	BWAS
9	2001	Hypercube A.S