A bio-inspired mobile agent-based coalition formation system for multiple modular-robot systems

This paper presents bio-inspired algorithms for coalition formation of a mobile agent-based modular robot system. A mathematical model for coalition formation is described. Two bio-inspired algorithms, ant-colony algorithm and genetic algorithm, are introduced for solving the mathematical model. Multiple experiments were run and the final results are shown in both mathematically and graphically. The graphical simulation is implemented by RoboSim which is built atop Ch, a C/C++ interpreter providing powerful features for solving engineering problems. The performance of both algorithms is shown by comparing different scenarios.