Abstract
In this paper, we discuss the concentration dependency of pheromone communication in swarm robotics. Instead of a pheromone trail and the insect antenna, we used ethanol and an alcohol sensor. This experimental system has a trade-off problem; high concentrations of the pheromone yield high signal strength but the signal duration is short, while low pheromone concentrations yield low signal strength but a long signal duration. We examined the optimal pheromone concentration for a swarm of robots. For this purpose, we developed a swarm behaviour algorithm and swarm robots that communicate using a pheromone trail. In addition, we discuss the effects of the pheromone concentration.
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Fujisawa, R., Dobata, S., Kubota, D., Imamura, H., Matsuno, F. (2008). Dependency by Concentration of Pheromone Trail for Multiple Robots. In: Dorigo, M., Birattari, M., Blum, C., Clerc, M., Stützle, T., Winfield, A.F.T. (eds) Ant Colony Optimization and Swarm Intelligence. ANTS 2008. Lecture Notes in Computer Science, vol 5217. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-87527-7_28
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DOI: https://doi.org/10.1007/978-3-540-87527-7_28
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-87526-0
Online ISBN: 978-3-540-87527-7
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