Research Article
Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains
Table 15
Navigation behaviour parameter specification.
| ACO properties | Type of ACO | Population | Length of path | Pheromone coefficient | Heuristic coefficient | Evaporation rate |
| Properties | ACS | 9 or 12 | 8 | 2 | 3 | 0.01 |
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