Self-Organizing Multirobot Exploration through Counter-Ant Algorithm

  • Ilhem Kallel
  • Abdelhak Chatty
  • Adel M. Alimi
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5343)


This paper presents an evolving method for a self-organizing multirobot exploration of an unknown environment. In such problem, a big consideration is given to the coordination behavior of robots in order to achieve the common tasks in an optimal way. Ant algorithms are proved to be very useful in solving such distributed control problems. We present here a modified version of the known ant algorithm, called Counter-Ant Algorithm (CAA). Indeed, the robots’collective behavior is based on repulsion instead of attraction to pheromone, which is a chemical matter open to evaporation and representing the core of ants’ cooperation. A series of experimentations with MINDSTORMS LEGO robots, and simulations under Madkit platform, in laboratory conditions similar to real ones, show the usefulness of our algorithm for self-organizing and cooperative exploration.


Counter-Ant algorithm self-organizing multirobot cooperative exploration pheromone stagnation recovery Lego robots Madkit 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Ilhem Kallel
    • 1
    • 2
  • Abdelhak Chatty
    • 1
    • 2
  • Adel M. Alimi
    • 1
  1. 1.REGIM, Research Group on Intelligent Machines, National School of EngineersUniversity of SfaxTunisia
  2. 2.High Institute of Computer Science and ManagementUniversity of KairouanTunisia

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