Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains

Table 11

QLACS without communication (inspecting some states).

Number of runs	1	2	3	4	5	6	7
Iterations	9	10	10	13	13	9	13
Time (sec)	43.0025	30.0017	34.002	30.0017	31.0017	31.0018	27.0016
Memory usage (bytes)	18872	18160	19204	18208	17896	18164	18308
Inspected states (R1)	𝐺	𝐹,𝐺,𝐶	𝐶	𝐹,𝐷,𝐵	𝐸,𝐴	𝐹,𝐸,𝐷,𝐴,𝐶	𝐹,𝐺,𝐸,𝐴
Inspected states (R2)	𝐵,𝐴,𝐺	𝐶	𝐶,𝐵,𝐴,𝐸,𝐹	𝐵,𝐴	𝐶,𝐵,𝐸	𝐵,𝐴,𝐸	𝐴,𝐺