Stigmergic landmarks lead the way

In this paper, we describe a nature-inspired optimization algorithm based on bee foraging behavior. This algorithm takes the high performance of bee path-integration navigation and adds ant-like stigmergic behavior in the form of landmarks. More precisely, each individual landmark can be created at any walkable state in the environment and contains a collection of direction markers with which visiting agents can find their way in an unknown environment. A landmark can either be represented by an agent or any other information distributing object. Essentially, we implement ant recruitment behavior based on pheromone. However, instead of using attracting of repelling pheromone in every state of the environment, we only update directional information at key locations in the environment. The resulting algorithm proves to be very efficient.