Swarm ant algorithm incorporation for navigation of resource collecting robots

Swarm robotics requires the development of new strategies and algorithm integration, which allow for the improvement of the design and the applications for harvesting or collecting resources. This paper describes the programming and design of Finite State Machines (FSM) bio-inspired algorithms for seeker and resource gathering Pherobots systems, like Anthill Known Location (AKL) aggressiveness and sense of panic. FSM designing allows for the use of control architectures for behaviour-based agents and for measuring the change in system performance. Simulations demonstrate the capability of the algorithms under different environments and scenarios.