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

Table 16

Navigation behaviour computations.

Number of runs	1	2	3	4	5	6	7	8	9
Number of Ants	5	7	8	9	10	11	12	15	28
Iterations	12	26	14	16	23	14	16	23	22
Time (sec)	37.0021	37.0021	39.0022	60.0035	32.0019	33.0019	35.002	43.0025	65.0037
Best train distance (R1)	12	12	10	10	10	10	10	10	10
Best trail distance (R2)	10	12	12	10	10	12	10	10	10