אריאל פלנר

The notion of large pheromones as a model of communication and global knowledge sharing in multi-agent systems is discussed. The model is applied to the multi-agent physical A* algorithm (MAPHA*) which is the multi-agent version of physical-A* (PHA*). Increasing the amount of data that can be stored at each of the pheromones reduces the travel effort of the agents. All the versions that use the large pheromones paradigm with unlimited memory capacity keep most of the potential of the full knowledge sharing paradigm.