Mathematical Problems in Engineering

Research Article

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

Table 3

Initial reward matrix.
  Robot’s action
  A B C D E F G H
Robot’s stateA —50, 100—50, 100————
B 50, 100—50, 100—50, 100———
C —50, 100————50, 100150
D 50, 100———50, 10050, 100——
E —50, 100—50, 100—50, 10050, 100—
F ———50, 10050, 100—50, 100150
G ——50, 100—50, 10050, 100——
H ——50, 100——50, 100——