Improved group explosion strategy for searching multiple targets using swarm robotics

In this paper, an improved group explosion strategy (IGES) is proposed for searching multiple targets using a swarm of simple robots. The strategy is based on our previous work which has several shortcoming especially when number of targets and robots are large. IGES is simple and fast with great adaptability and only one parameter. The simulation results demonstrate that IGES has great efficiency in all aspects including searching time, energy consumption and computation overload. IGES also shows great stability and adaptiveness in both small and large scale problems.