{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,30]],"date-time":"2026-01-30T02:28:31Z","timestamp":1769740111776,"version":"3.49.0"},"reference-count":19,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2011,11,21]],"date-time":"2011-11-21T00:00:00Z","timestamp":1321833600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Swarms of robots can use their sensing abilities to explore unknown environments and deploy on sites of interest. In this task, a large number of robots is more effective than a single unit because of their ability to quickly cover the area. However, the coordination of large teams of robots is not an easy problem, especially when the resources for the deployment are limited. In this paper, the Distributed Bees Algorithm (DBA), previously proposed by the authors, is optimized and applied to distributed target allocation in swarms of robots. Improved target allocation in terms of deployment cost efficiency is achieved through optimization of the DBA\u2019s control parameters by means of a Genetic Algorithm. Experimental results show that with the optimized set of parameters, the deployment cost measured as the average distance traveled by the robots is reduced. The cost-efficient deployment is in some cases achieved at the expense of increased robots\u2019 distribution error. Nevertheless, the proposed approach allows the swarm to adapt to the operating conditions when available resources are scarce.<\/jats:p>","DOI":"10.3390\/s111110880","type":"journal-article","created":{"date-parts":[[2011,11,21]],"date-time":"2011-11-21T11:07:05Z","timestamp":1321873625000},"page":"10880-10893","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Distributed Bees Algorithm Parameters Optimization for a Cost Efficient Target Allocation in Swarms of Robots"],"prefix":"10.3390","volume":"11","author":[{"given":"Aleksandar","family":"Jevti\u0107","sequence":"first","affiliation":[{"name":"ETSI Telecomunicaci\u00f3n, Universidad Polit\u00e9cnica de Madrid, Av. Complutense 30, 28040 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8926-5328","authenticated-orcid":false,"given":"\u00c1lvaro","family":"Guti\u00e9rrez","sequence":"additional","affiliation":[{"name":"ETSI Telecomunicaci\u00f3n, Universidad Polit\u00e9cnica de Madrid, Av. Complutense 30, 28040 Madrid, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2011,11,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Balch, T., and Parker, L. (2002). Robot Teams: From Diversity to Polymorphism, A.K. Peters.","DOI":"10.1201\/9781439863671"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"939","DOI":"10.1177\/0278364904045564","article-title":"A Formal Analysis and Taxonomy of Task Allocation in Multi-Robot Systems","volume":"23","author":"Gerkey","year":"2004","journal-title":"Int. J. Robot. Res"},{"key":"ref_3","unstructured":"Beni, G., and Wang, J. (1989, January 26\u201330). Swarm Intelligence in Cellular Robotic Systems. 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J"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"927","DOI":"10.1109\/TRO.2009.2024997","article-title":"Optimized Stochastic Policies for Task Allocation in Swarms of Robots","volume":"25","author":"Berman","year":"2009","journal-title":"IEEE Trans. Robot"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"127","DOI":"10.1007\/978-3-642-00196-3_15","article-title":"From Theory to Practice: Distributed Coverage Control Experiments with Groups of Robots","volume":"54","author":"Khatib","year":"2009","journal-title":"Experimental Robotics"},{"key":"ref_9","unstructured":"Gro\u00df, R., Nouyan, S., Bonani, M., Mondada, F., and Dorigo, M. (2008, January 7\u201312). Division of Labour in Self-organised Groups. Osaka, Japan."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Berman, S., Halasz, A., Kumar, V., and Pratt, S. (2007, January 10\u201314). Bio-Inspired Group Behaviors for the Deployment of a Swarm of Robots to Multiple Destinations. 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Genetic Algorithms in Search, Optimization and Machine Learning, Addison Wesley."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"7545","DOI":"10.3390\/s8117545","article-title":"An Open Localization and Local Communication Embodied Sensor","volume":"8","author":"Campo","year":"2008","journal-title":"Sensors"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Guti\u00e9rrez, A., Campo, A., Dorigo, M., Donate, J., Monasterio-Huelin, F., and Magdalena, L. (2009, January 12\u201317). Open E-puck Range and Bearing Miniaturized Board for Local Communication in Swarm Robotics. Kobe, Japan.","DOI":"10.1109\/ROBOT.2009.5152456"},{"key":"ref_18","unstructured":"Mondada, F., Bonani, M., Raemy, X., Pugh, J., Cianci, C., Klaptocz, A., Magnenat, S., Zufferey, J.C., Floreano, D., and Martinoli, A. (2009, January 7). The e-puck, a Robot Designed for Education in Engineering. Castelo Branco, Portugal."},{"key":"ref_19","unstructured":"Christensen, A.L. (2005). Efficient Neuro-Evolution of Hole-Avoidance and Phototaxis for a Swarm-Bot, IRIDIA, Universit\u00e9 Libre de Bruxelles. Technical Report 2005-014."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/11\/11\/10880\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:58:05Z","timestamp":1760219885000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/11\/11\/10880"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,11,21]]},"references-count":19,"journal-issue":{"issue":"11","published-online":{"date-parts":[[2011,11]]}},"alternative-id":["s111110880"],"URL":"https:\/\/doi.org\/10.3390\/s111110880","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,11,21]]}}}