Multi-Robot Exploration based on Swarm Optimization Algorithms

Abstract

Summary. The Darwinian Particle Swarm Optimization (DPSO) is an evolutionary algorithm that extends the well-known Particle Swarm Optimization (PSO) using natural selection, or survival-of-the-fittest, to enhance the ability to escape from local optima. In this paper, it is explored the effectiveness of using a modified version of both PSO and DPSO, respectively named as R-PSO and R-DPSO, on groups of simulated robots performing a distributed exploration task.