This paper introduces ant colony system (ACS), a distributed algorithm that is applied to the traveling salesman problem (TSP). In ACS, a set of cooperating agents called ants cooperate to find good solutions to TSPs. Ants cooperate using an indirect form of communication mediated by pheromone they deposit on the edges of the TSP graph while building solutions. We study ACS by running experiments to understand its operation. The results show that ACS outperforms other nature-inspired algorithms such as simulated annealing and evolutionary computation, and we conclude comparing ACS-3-opt, a version of ACS augmented with a local search procedure, to some of the best performing algorithms for symmetric and asymmetric TSPs. Accepted for publication in the IEEE Transactions on Evolutionary Computation, Vol.1, No.1, 1997. In press. Dorigo and Gambardella - Ant Colony System 2 I.
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