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The system allows simulation of a virtually unlimited number of different pheromones and provides the result of their interaction as a gray-scale image on a horizontal LCD screen that the robots move on. In order to demonstrate the pheromone communication method, Colias autonomous micro robot was deployed as the swarm robotic platform.

The system allows simulation of a virtually unlimited number of different pheromones and provides the result of their interaction as a gray-scale image on a horizontal LCD screen that the robots move on. In order to demonstrate the pheromone communication method, Colias autonomous micro robot was deployed as the swarm robotic platform.

该系统可以模拟几乎无限数量的不同信息素，并在机器人移动的水平 LCD 屏幕上以灰度图像的形式提供它们相互作用的结果。为了演示信息素通信方法，自主微型机器人Colias调动为群体机器人平台。

该系统可以模拟几乎无限数量的不同信息素，并在机器人移动的水平 LCD 屏幕上以灰度图像的形式提供它们相互作用的结果。为了演示信息素通信方法，自主微型机器人Colias可调动为群体机器人平台。

In the ant colony optimization algorithms, an artificial ant is a simple computational agent that searches for good solutions to a given optimization problem. To apply an ant colony algorithm, the optimization problem needs to be converted into the problem of finding the shortest path on a weighted graph. In the first step of each iteration, each ant stochastically constructs a solution, i.e. the order in which the edges in the graph should be followed. In the second step, the paths found by the different ants are compared.  The last step consists of updating the pheromone levels on each edge.

In the ant colony optimization algorithms, an artificial ant is a simple computational agent that searches for good solutions to a given optimization problem. To apply an ant colony algorithm, the optimization problem needs to be converted into the problem of finding the shortest path on a weighted graph. In the first step of each iteration, each ant stochastically constructs a solution, i.e. the order in which the edges in the graph should be followed. In the second step, the paths found by the different ants are compared.  The last step consists of updating the pheromone levels on each edge.

===Edge selection===

===Edge selection===

 

Each ant needs to construct a solution to move through the graph.  To select the next edge in its tour, an ant will consider the length of each edge available from its current position, as well as the corresponding pheromone level. At each step of the algorithm, each ant moves from a state <math>x</math> to state <math>y</math>, corresponding to a more complete intermediate solution. Thus, each ant <math>k</math> computes a set <math>A_k(x)</math> of feasible expansions to its current state in each iteration, and moves to one of these in probability. For ant <math>k</math>, the probability <math>p_{xy}^k</math> of moving from state <math>x</math> to state <math>y</math> depends on the combination of two values, the ''attractiveness'' <math>\eta_{xy}</math> of the move, as computed by some heuristic indicating the ''a priori'' desirability of that move and the ''trail level'' <math>\tau_{xy}</math> of the move, indicating how proficient it has been in the past to make that particular move. The ''trail level'' represents a posteriori indication of the desirability of that move.

Each ant needs to construct a solution to move through the graph.  To select the next edge in its tour, an ant will consider the length of each edge available from its current position, as well as the corresponding pheromone level. At each step of the algorithm, each ant moves from a state <math>x</math> to state <math>y</math>, corresponding to a more complete intermediate solution. Thus, each ant <math>k</math> computes a set <math>A_k(x)</math> of feasible expansions to its current state in each iteration, and moves to one of these in probability. For ant <math>k</math>, the probability <math>p_{xy}^k</math> of moving from state <math>x</math> to state <math>y</math> depends on the combination of two values, the ''attractiveness'' <math>\eta_{xy}</math> of the move, as computed by some heuristic indicating the ''a priori'' desirability of that move and the ''trail level'' <math>\tau_{xy}</math> of the move, indicating how proficient it has been in the past to make that particular move. The ''trail level'' represents a posteriori indication of the desirability of that move.

Each ant needs to construct a solution to move through the graph.  To select the next edge in its tour, an ant will consider the length of each edge available from its current position, as well as the corresponding pheromone level. At each step of the algorithm, each ant moves from a state <math>x</math> to state <math>y</math>, corresponding to a more complete intermediate solution. Thus, each ant <math>k</math> computes a set <math>A_k(x)</math> of feasible expansions to its current state in each iteration, and moves to one of these in probability. For ant <math>k</math>, the probability <math>p_{xy}^k</math> of moving from state <math>x</math> to state <math>y</math> depends on the combination of two values, the attractiveness <math>\eta_{xy}</math> of the move, as computed by some heuristic indicating the a priori desirability of that move and the trail level <math>\tau_{xy}</math> of the move, indicating how proficient it has been in the past to make that particular move. The trail level represents a posteriori indication of the desirability of that move.

Each ant needs to construct a solution to move through the graph.  To select the next edge in its tour, an ant will consider the length of each edge available from its current position, as well as the corresponding pheromone level. At each step of the algorithm, each ant moves from a state <math>x</math> to state <math>y</math>, corresponding to a more complete intermediate solution. Thus, each ant <math>k</math> computes a set <math>A_k(x)</math> of feasible expansions to its current state in each iteration, and moves to one of these in probability. For ant <math>k</math>, the probability <math>p_{xy}^k</math> of moving from state <math>x</math> to state <math>y</math> depends on the combination of two values, the attractiveness <math>\eta_{xy}</math> of the move, as computed by some heuristic indicating the a priori desirability of that move and the trail level <math>\tau_{xy}</math> of the move, indicating how proficient it has been in the past to make that particular move. The trail level represents a posteriori indication of the desirability of that move.

每只蚂蚁都需要构造一个解来移动图形。为了在它的旅行中选择下一条边，蚂蚁会考虑每条边从它当前位置可以获得的长度，以及相应的信息素水平。在算法的每个步骤中，每个蚂蚁从一个状态 < math > x </math > 移动到状态 < math > y </math > ，对应于一个更完整的中间解。因此，每个蚂蚁在每次迭代中计算一组可行展开式到它的当前状态，并移动到其中一个概率上。对于蚂蚁来说，从数学状态到数学状态的概率取决于两个值的组合---- 吸引力，数学状态到数学状态的概率。试验水平代表了一个后验指示的愿望，这一举动。

每只蚂蚁都需要构造一个解来移动图形。为了在它的旅行中选择下一条边，蚂蚁会考虑每条边从它当前位置可以获得的长度，以及相应的信息素水平。在算法的每个步骤中，每个蚂蚁从一个状态 x移动到状态y，对应于一个更完整的中间解。因此，每个蚂蚁在每次迭代中计算一组可行展开式到它的当前状态，并移动到其中一个概率上。对于蚂蚁k来说，从状态x到数学状态y的概率取决于两个值的组合---- 吸引力，数状态到数学状态的概率。试验水平代表了一个后验指示的愿望，这一举动。