Multi-Agent swarm based localization of hazardous events

The swarm robotic concept has become a topic of extensive research in hazardous environments where a fault tolerant, robust and energy efficient approach is needed. In this paper we present behavior-based algorithm for target navigation and swarm distribution over hazardous targets. This work is inspired by ant colony and honey bee behavior models. Our goal is to derive a heuristic algorithm for target localization and decentralized swarm distribution. Target localization is based on ant colony behavior combined with random walk. Collective decision making and distribution of a swarm are based on honey bee behavior. We validate our approach through Matlab simulations.