A Pheromone-Inspired Monitoring Strategy Using a Swarm of Underwater Robots

. 2019 Sep 21;19(19):4089. doi: 10.3390/s19194089

Algorithm 4 Get the next cell to visit according to pheromone matrix

Input:

P_{l o c a l}

P_{g l o b a l}

Output:

D_{i *, j *}

1:
Create collection $C_{g l o b a l}$ that contains all elements of $P_{g l o b a l}$
2:
Create collection $C_{l o c a l}$ that contains all elements of $P_{l o c a l}$
3:
Create empty collection C
4:
for $p_{a, b}$ in $C_{l o c a l}$ do
5:
if $p_{a, b} = 0$ then
6:
put $(a, b)$ into C
7:
end if
8:
end for
9:
if $| C | \neq 0$ then
10:
$(i *, j *) \leftarrow r a n d o m (C)$
11:
end if
12:
if $| C | = 0$ then
13:
for $p_{a, b}$ in $C_{g l o b a l}$ do
14:
if $p_{a, b} = m i n (C_{g l o b a l})$ then
15:
put $(a, b)$ into C
16:
end if
17:
end for
18:
$(i *, j *) \leftarrow r a n d o m (C)$
19:
end if