Table 2.

Parameters of ABISS to be optimised.

Parameter	Symbol	Type	Units	Range
Intra-Swarm
Pheromone decay	${\tau }_d$	real	%	[0.01–0.20]
Pheromone radius	${\tau }_r$	integer	cells	[0–2]
Pheromone scan angle	${\tau }_a$	real	radians	[0.00–$\frac{\pi }{4}]$
Pheromone scan depth	${\tau }_m$	integer	cells	[1–10]
Inter-Swarm
Collaboration probability	${\pi }_c$	real	–	[0.00–1.00]
Attractor scan angle	${\alpha }_a$	real	radians	[0.00–$\frac{\pi }{4}]$
Attractor scan depth	${\alpha }_m$	integer	cells	[1–20]
Pheromone in unreachable area	${\tau }_u$	real	%	[0.00–1.00]