A Self-adapting Method for 3D Environment Exploration Inspired by Swarm Behaviour.

A problem of finding an optimal size of a swarm of robots in a way of effective cooperation is not an easy task to solve. There are many factors, which influence the optimal size of the robotic swarm. Among major factors that have to be considered, belong communication, structure of environment and behavior of agents in the swarm. This paper presents a method for creating a decentralized self-adapting swarm of robots. The task is to set an optimal size of the swarm in a role of space exploration. Communication among robots is restricted to communication through the environment. The only way how agents communicate, is through artificial pheromone marks. This fact gives us an ability to create a decentralized algorithm for controlling and coordination of a robotic swarm, which is robust and efective.