“…Many reports, for the use of PSO in solving dynamic problem, are available in the literature on the application of different mechanism, i.e., reinitialization of particle positions [9][10], charged swarms [11] [12], limited memory [13], local search [14], split adaptive PSO [15], fine-grained PSO [16], hierarchical particle [17]. In the case of using mobile robots and multiple sensory modalities (e.g., odometry, anemometry, olfaction), we should carefully consider the feasibility of the hardware [18].…”