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In this paper, the authors design a bio-inspired patrolling algorithm based on digital pheromone. As events have different importance, they refer to them as having different priorities. In their patrolling schemes, robots efficiently handle as many high priority events as possible. Inspired by the pheromone-based communication among ants, they introduce the concept of digital pheromones and propose a digital pheromone-based patrolling algorithm. Digital pheromones are introduced to denote the priority of an event. The main purpose of this algorithm is to lead robots to handle more events with higher priorities. Simulations demonstrate the impact of robots' patrol speed, speed of robots' handling events, etc.
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