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Modeling and optimization of adaptive foraging in swarm robotic systems

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Figure

Fig. 1: The threshold-based robot controller for collective foraging, with adaptive divisionof labour.
Fig. 2: Probabilistic finite state machine for adaptive collective foraging. Each block rep-resents the state and the average number of robots in that state, denotedtion of those marked withrepresent the total number of robots moving into statesrepresent th
Table 1: Key to the primary notation used in the PFSM and macroscopic model
Fig. 3: sub-PFSM for robots engaged in the “searching-grabbing” task. The sub-PFSM in-cludes stateslifetime
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