Algorithm 1: The SRPB search strategy

initialize population with random positions and velocities

generate and initialize virtual match point set to each robot

do for each time in given time

do for each robot in swarm

Generate decision set ${\psi }_{\mathrm{d}}^i(t)$, neighbor set ${\psi }_n^i(t)$, repulsion set ${\psi }_{\mathrm{r}}^i(t)$

If the robots number of ${\psi }_n^i(t)$ is greater than 0

Calculate probabilities of moving to neighbors

Select one robot and update $p_k(t)$

end

If the robots number of ${\psi }_d^i(t)$ is equal to 0

Choose the nearest point in robot’s virtual match point set

update $p_k(t)$

end

Calculate repulsive effect according to Equations (20)–(22)

Calculate the history coefficient, the priority coefficient and the attractive coefficient

Update repulsion radius and decision radius

If repulsion radius is greater than decision radius

Exclude points where the distance to the robot is less than $2R_c$

Choose the nearest point in the robot’s virtual match point set

update $p_k(t)$

end

Calculate the history effect and the attractive effect

Update velocity Equation (29)

end

do for each robot in swarm

Update position Equation (30)

Update robot’s received signal strength at its position

Update $l_{\max }^i$ and $l_{\min }^i$

If robot reach to the chosen point

Exclude the chosen point

end

end

end