This paper has presented acquiring method for agents' actions using Ant Colony Optimization (ACO) in multi-agent system. ACO is one of powerful meta-heuristics algorithms and some researchers have reported the effectiveness of some applications with the algorithm [1-4]. I have developed fire brigade agents using proposed method in Robo Cup rescue simulation system. The final goal of this research is an achievement of co-operations for hetero-agent in multi-agent systems. Then this research for implementation for fire brigade agents in my team is the first step of this goal.
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