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

Table 13

Processes used in achieving Tables 11 and 12.

(a) For Table 11

Inspecting some States; (1) Initialize the starting and goal states; (2) Initialize all 𝑄values to zeroes; (3) Select a random action If 𝑄values of all possible actions at current state are zeroes; (4) Select the action with the highest 𝑄value If it is the Max 𝑄value; (5) Compute and update 𝑄value of the selected action; (6) Get new state among possible states; (7) If new state  = goal state then go to Steps  5 and  9; (8) Repeat Steps  3 to 6 until Step  7; (9) Shutdown

(b) For Table 12

Inspecting all States; (1) Initialize the starting and goal states; (2) Initialize all 𝑄values to zeroes; (3) Select a random action If 𝑄values of all possible actions at current state are zeroes; (4) Select the action with the highest 𝑄value If it is the Max 𝑄value; (5) Compute and update 𝑄value of the selected action; (6) Get new state among possible states; (7) If new state  = goal state then go to Steps  5 and 10; (8) Repeat Steps  3 to 7 until Step  9; (9) All states except the goal state has taken Action  = Inspect; (10) Shutdown