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

Table 9

Probability update of a full cycle.

Probability table
Current states	𝐹	𝐺	𝐸	𝐷	𝐴	𝐵	𝐶
𝐹	0	0.33	0.33	0.33	0	0	0
𝐸	0	0.67	0	0.17	0	0.17	0
𝐷	0.69	0	0.16	0	0.16	0	0
𝐴	0	0	0	0.5	0	0.5	0
𝐵	0	0	0.16	0	0.16	0	0.68
𝐶	0	0.52	0	0	0	0.49	0
𝐺	0.45	0	0	0	0	0	0.45

𝐶 = terminating state.