Path Planning for Mobile Robots Based on Improved Ant Colony Optimization. - Chen-Chien J. Hsu; Ru-Yu Hou; Wei-Yen Wang (SMC, 2013)

FPGA-based path planning using improved Ant Colony Optimization Algorithm. - Chen-Chien J. Hsu; Ru-Yu Hou; Wen-Chung Kao; Shih-An Li (ICCE-Berlin, 2015)

FPGA implementation of improved ant colony optimization algorithm for path planning. - Chen-Chien J. Hsu; Wei-Yen Wang; Yi-Hsing Chien; Ru-Yu Hou; Chin-Wang Tao (CEC, 2016)