Orthogonality and Optimality in Non-Pheromone Mediated Foraging

  • Sanza Kazadi
  • James Yang
  • James Park
  • Andrew Park
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6145)


We describe the general foraging task, breaking it into two different subtasks: map-making and collection. Map-making is a task in which a map is constructed which contains the location(s) of an item or of items in the search area. Collection is the task in which an item is picked up and carried back to a central known location. We theoretically examine these tasks, generating minimal conditions for each one to be accomplished. We then build a swarm made up of two castes to accomplish this, theoretically motivating the design of the swarm. Finally, we demonstrate that the swarm is optimal in the class of swarms utilizing line-of-sight communication, and give performance measures for open and closed search spaces.


Multiagent System Sensor Range Dead Reckoning Swarm Size Swarm Robotic 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Sanza Kazadi
    • 1
  • James Yang
    • 1
  • James Park
    • 1
  • Andrew Park
    • 1
  1. 1.Jisan Research Institute 

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