On Site Fidelity and the Price of Ignorance in Swarm Robotic Central Place Foraging Algorithms

Abstract

A key factor limiting the performance of central place foraging algorithms is the awareness of the agent(s) about the location of food items around the nest. We study the ratio of how much time an ignorant agent takes relative to an omniscient forager for complete collection of food items in the arena. This effectively quantifies the penalty each algorithm pays for not knowing (or choosing to ignore information gained about) where the resources are located. We model the effect of depletion of food items from the arena on the foraging efficiency over time and analytically verify that returning to the location of the last food item found strongly helps in counteracting this effect. To the best of our knowledge, these results have only been empirically argued so far.