Ant

Ant class

Sensor

• observed pheromone per sensor q* = f(q)
• activation: linear or sigmoid (not available yet)
• steering gain: K
• noise: epsilon with relative gain K_e
• differential steering: theta_dot = K * (q*_left-q*_right +K_e * epsilon)
• noise type:
  • telegraph
  • white
  • uniform

Acuator

Settings related to depositing pheromone

• event: find food or find nest
• timer t: time since last event
• Decay parameter: deposit quantity Q pheromones decreases exponentially with timer t
• Return factor x: if ant is nestbound, deposit x*Q pheromones

 q(t) = Q*exp(-t/beta)