Implementation of an Algorithm for Searching for Missing Units of a Swarm of Robots, Controlled by an Adapted Ant Algorithm

The article considers the implementation of the function of searching for missing robots in a swarm, which is controlled by an adapted ant algorithm. It was shown that when searching for missing units of a swarm of robots, the main factors are the simplicity of search activities and the efficiency of the algorithm without the possibility of operator intervention. To implement the search function, two alternative algorithms for searching for missing units of a swarm of robots were proposed: basic and directional search algorithms. In the course of computer simulation, it was proved that our proposed algorithms are workable and can be used to monitor cases of disappearance of members of the swarm and organize search operations.