Bio-Inspired Computing and Networking

BEECLUST: A Swarm Algorithm Derived from Honeybees

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F(w, t)

F(s, t)

F(e, t)

F(n, t)

F(c, t)

A(c, t)

Figure 5.17 Schematic diagram of a simple discretization of Equation 5.16 focus-

ing on one patch in the center (density of free robots at position c: F(c, t))and

its neighbors to the north, east, south, and west, plus the associated patch of the

aggregated robot density A(c, t). Arrows indicate the in- and outflow. Pictures

are reprinted. (From Hamann, H. et al., Spatial macroscopic models of a bio-

inspired robotic swarm algorithm, In IEEE/RSJ 2008 International Conference on

Intelligent RObots and Systems (IROS’08), 2008. With permission.)

by the diffusion ...