Selective Method Based on Auctions for Map Inspection by Robotic Teams - Foundations on Natural and Artificial Computation - page 179

together to achieve the main objective. The communication failure probabilities
ranges between 0 . 9 and 0 . 00001 .Atotalnumberof 100 tests are carried out for

each particular experiment.

(a) Map denominated as Map 1 (b) Map denominated as Map 2

Fig. 3. Maps designed for experiments

Using a map as the showed in Fig. 3 (a) (here in after Map1 ) with a high and

a low probability of communication failure (exactly respectively)

were collected the results showed in Fig. 4. Grey bars show the steps needed by
the different groups of agents executing a random behavior, black bars are the
steps needed by the groups executing the selective method.

0 . 9 and 0 . 00001

Mean steps per team with a probability of communication failure of 0.9
Random behavior
Selective behavior

Mean steps per team with a probability of communication failure of 1e-05
Random behavior
Selective behavior

800 800

700 700

600 600

500 500

400 400

300 300

200 200

100 100

0 0

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

Fig. 4. Experiments results relative to mean steps

Fig. 5 (a) depicts the curve that represent the improvement of our method
over the random behavior for both probabilities shown previously. The range of
this improvement goes from 50% to 30% independently the size of agent team.