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

Table 14

QLACS with communication.

Number of runs	1	2	3	4	5	6	7
Iterations	9	10	9	13	10	10	9
Time (sec)	33.0019	31.0017	31.0018	31.0018	29.0023	30.0017	31.0018
Memory usage (bytes)	15748	15948	15748	18232	16576	15948	15748
Inspected states (R1)	𝐹,𝐺,𝐸	𝐹,𝐺,𝐸,𝐷	𝐹,𝐺,𝐸	𝐹,𝐸	𝐹,𝐺,𝐸,𝐷,𝐵	𝐹,𝐺,𝐸,𝐷	𝐹,𝐺,𝐸
Inspected states (R2)	𝐶,𝐵,𝐴,𝐷	𝐶,𝐵,𝐴	𝐶,𝐵,𝐴,𝐷	𝐹,𝐺,𝐸,𝐷,𝐴	𝐶,𝐴	𝐶,𝐵,𝐴	𝐶,𝐵,𝐴,𝐷