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

Table 2

State and possible actions of the environment.

	State	Possible Actions
1	A (lower left part (LLP))	Inspect, ignore
2	B (lower middle part (LMP))	Inspect, ignore
3	C (lower right part (LRP))	Inspect, ignore
4	D (middle left part (MLP))	Inspect, ignore
5	E (central part (MCP))	Inspect, ignore
6	F (upper left part (ULP))	Inspect, ignore
7	G (upper right part (URP))	Inspect, ignore
8	H (outside mine part (OMP))	Shutdown