Ant Colony Optimization for Co-operation in Robotic Swarms

摘要

The swarm robotic concept has become a topic of extensive research in hazardous environments where a fault tolerant, robust and energy efficient approach is needed. In this paper we present behavior based algorithm for target navigation and swarm distribution over hazardous targets. This work is inspired by ant colony models. Our goal is to derive a heuristic algorithm for target localization and decentralized swarm distribution. Target localization is based on ant colony behavior combined with random walk.