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Additional resources for Byzantino-Nordica 2004: Papers Presented at the International Symposium of Byzantine Studies Held on 7-11 May 2004 in Tartu, Estonia

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The experiment summarizes a set of 1000 single trips performed by the robots 0 k=4 k=5 k=6 k=7 k=8 k=9 0 1 5 10 15 Number of robots 20 25 Fig. 5 Percent of time the frontal proximity sensor is activated in the case of using the information gathered by the population about the location of the targets. The experiment summarizes a set of 1000 single trips performed by the robots Social Target Localization in a Population of Foragers 23 of longer travel times. As it can be seen on figure 4, shorter times are achieved by increasing k until asymptotically reaching a minimum.

For trajectory based methods, a new solution Cbest is obtained from Cbest using a mutation operator. When the solver receives Cbest , then it will restart the search from that new point. Such modification tries to avoid relocating all of the solvers in the same point of the search space. D. Masegosa et al. a) Definition of low b) Definition of enough, High, THigh and TVeryHigh Fig. 1 Definition of low, enough, High, THigh and TVeryHigh However, for population based methods, a proportion of the worst individuals of the receiver is substituted by a set of mutated solutions obtained from Cbest using the same operator as before.

Moreover, It can be seen that the performance of using parts of the population as landmarks can be increased when robots share information about the position of the target, by allowing the robots’ knowledge to spread through the population in the form of a gradient. e. 600 for navigating randomly, 300 with static landmarks, 150 with dynamic landmarks, and 75 when creating a gradient of colours. 2 2000 Fig. 2 Varying Attraction between Robots The influence of component t (attraction to landmark) can be modulated by a parameter of attraction we called k.

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