Abstract:
Strategy planning is crucial to control a group to achieve a number of tasks in a closed area full of obstacles. In this
study, genetic programming has been used to evolve rule-based hierarchical structures to move the particles in a grid region
to accomplish navigation tasks. Communications operations such as receiving and sending commands between particles
are also provided to develop improved strategies. In order to produce more capable strategies, a task decomposition procedure is proposed. In addition, a conflict module is constructed to handle the challenging situations and conflicts such as
blockage of a particle’s pathway to destination by other particles.