Multiscale Modelling and Analysis of Collective Decision Making in Swarm Robotics (original) (raw)

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Figure 3

Stationary probability distribution and splitting probability for a virtual swarm.

(left) Stationary probability distribution as estimated from the simulation output (red markers) and computed from the FPE coefficients [Eq. (56) in Appendix 1.2]. (right) Splitting probability , as estimated directly from the simulation output [cf. Eq. (53) in Appendix 1.2] (red markers) and computed using the integrated stationary distribution [Eq. (54) in Appendix 1.2] (blue curve). Simulation parameters are given in Table 1.

Figure 3

doi: https://doi.org/10.1371/journal.pone.0111542.g003