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Video 1: A swarm of artificial ants (agents) searching for food (represented by white spots, by applying greedy search algorithm, using a conceptual probability map (for more details see detailed references below).

Video 2: Three agents representing mobile robots that are looking for a moving target. The target moves according to probabilistic rules by a probability heat map as shown in the upper left corner. Each agent moves according to a probability based algorithm. That relies on a probability heat map (bottom of the figure) and is dynamically updated by new information aggregated collaboratively by all the robots as well as by predicting the target next movement. The collaborative probability heat map is shown in the upper right corner (for more details please refer to the detailed references below).


  • Kagan E., Shvalb N. and Ben-Gal I. (expected 2018), “Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming”, Wiley & Sons.

  • Kagan* E. and Ben-Gal I. (2015), Search and Foraging: Individual Motion and Swarm Dynamics (268 Pages), CRC Press, Taylor and Francis (Amazon)

  • Kagan E. and Ben-Gal I. (2013), “Moving Target Search Algorithm with Informational Distance Measures”, The Open Applied Informatics Journal. 6, 1-10 (pdf File)

  • Kagan E. and Ben-Gal I (2014). “A Group-Testing Algorithm with Online Informational Learning”, IIE Transactions, 46:2, 164-184, (pdf File)

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