The multi-target search problem with environmental restrictions in swarm robotics

In this paper, we give a comprehensive and detailed introduction of the multi-target search problem in swarm robotics. Based on some assumptions, we built the idealized models of the basic search problem and three kinds of environmental restrictions. In our previous works, we have raised two searching strategies (GES and IGES) inspired from firework explosion and three restriction-handling strategies, and in this paper, we describe and analyze these strategies systematically. A series of experiments were carried out, and the results show that the strategies proposed work well on the idealized models. And it´s valuable to note that, compared to GES and RPSO, IGES was more efficient and showed greater stability in searching process, greater adaptiveness in both small and large scale problems and greater compatibility with restriction-handling strategies.