Swarm Intelligence Techniques Applied to Nonlinear Systems State Estimation - Advances in Heuristic Signal Processing and Applications - page 234

Fig. 10.11 Continuous Ant
Colony Filter (CACF)
algorithm
10.4.4 Continuous Ant Colony Filter (CACF)
CACF is a heuristic filter, based on the previously developed metaheuristic algo-
rithm known as CACS [ 30 ]. It utilizes a colony of moving ants, the average posi-
tions of which is returned as the current estimation. Figure 10.11 shows the general
iterative structure of CACF. A high level description of the sequential steps is shown
in this figure. 1
1 CACF code is available at http://ae.sharif.ir/Faculty-Resume/Nobahari.php .