Self-Organizing Multirobot Exploration through Counter-Ant Algorithm

Abstract

Abstract. This paper presents an evolving method for a self-organizing multirobot exploration of an unknown environment. In such problem, a big consideration is given to the coordination behavior of robots in order to achieve the common tasks in an optimal way. Ant algorithms are proved to be very useful in solving such distributed control problems. We present here a modified version of the known ant algorithm, called Counter-Ant Algorithm (CAA). Indeed, the robots'collective behavior is based on repulsion instead of attraction to pheromone, which is a chemical matter open to evaporation and representing the core of ants' cooperation. A series of experimentations with MINDSTORMS LEGO robots, and simulations under Madkit platform, in laboratory conditions similar to real ones, show the usefulness of our algorithm for self-organizing and cooperative exploration.

Fuzzy counter-ant for avoiding the stagnation of multirobot exploration

“…The main step forward that this work represents relative to our previous work [18,19] is to propose to integrate a fuzzy system inspired by the biological behavior of ants. If we observe the reaction of real ants in two different paths marked by pheromone (an experience for shortest path discovery), we note that ants react according to pheromone quantity in both paths and opt for the path containing the highest pheromone quantity.…”

“…Let' s consider another view of swarm intelligence inspired from ant colony optimization called Counter-Ant Algorithm (CAA) [17][18][19] . In reality, the robots' collaborative behavior is based on repulsion instead of attraction to pheromone-a chemical evaporating matter-that represents the core of ants' cooperation.…”

Fuzzy Counter Ant Algorithm for Maze Problem

“…Thus, for the purpose of developing an effective decision support system, we need a better, well organized and more structured algorithm that could overcome the problems faced in initial algorithm. Therefore, we decided to incorporate a hybrid algorithm which has the key points of old approach and the "Counter Ant Algorithm" [18]. As Discussed in Chapter 3, ant colonies, and more generally social insect societies, are distributed systems that in spite of the simplicity of their individuals, present a highly structured social organization.…”