US Patent 7856314 Exhaustive swarming search strategy using distributed pheromone maps

Method and systems for using agents to perform an operation (e.g., a search) over a geographic area are provided. The system can first create a digital map of the geographic region divided into cells that contain information about the progress of an operation related to the geographic region. Next, the system can calculate a distance gradient of the digital map. The distance gradient indicates the distance from cells of the digital map to the nearest unoperated cell. The system can determine the next move for each agent based on the distance gradient. Also described are methods and systems for efficiently exchanging digital map information among agents and for distributing agents to increase network coverage and decrease agent crowding.