Emerging Inter-Swarm Collaboration for Surveillance Using Pheromones and Evolutionary Techniques

. 2020 Apr 30;20(9):2566. doi: 10.3390/s20092566

Algorithm 1 Pseudocode of CACOC.

procedure CACOC

c u r r e n t s t a t e \leftarrow

“ahead”
loop

ρ \leftarrow next value in first return map

no pheromone sensed in the neighbourhood

then

c u r r e n t s t a t e \leftarrow C R O M M

else
if

ρ < P_{R}

then

c u r r e n t s t a t e \leftarrow

“right”
else if

ρ < P_{R} + P_{L}

then

c u r r e n t s t a t e \leftarrow

“left”
else

c u r r e n t s t a t e \leftarrow

“ahead”
end if

move according to the c u r r e n t s t a t e

end if
end loop
end procedure