Multitarget Search of Swarm Robots in Unknown Complex Environments

Table 4

Parameter settings of the swarm robot system.

Parameter	Value
Searching area	1000 unit × 1000 unit
Number of robots, Nro	30∼80
Number of targets, Nob	7
Maximum movement speed of the robot, Vm	5 unit/sec
Maximum radius detecting target, d0	100 unit
Maximum communication radius,	300 unit
Target signal energy, P	10^5
Target signal propagation attenuation coefficient, m	0.1
Response threshold, Imin	1
Inertia link,	0.1
Stride control factor,	0.3
Target arrival threshold,	5 units
Virtual-force function coefficient, c	3.9