Multitarget Search of Swarm Robots in Unknown Complex Environments

Table 2

Examples of the subswarm information card.

Numbering	Target	Leader	Members	Task type set		Task incentive		Distance to the target
Sub1	T1	R1	{R1, R2}	{type I, type II}		{4.33, 4.33}		{, 231.13}
Sub4	T4	R4	{R4, R5}	{type I, type II}		{2.33, 2.33}		{, 128.99}
Number	RecruitNum	Historical optimum records of subswarm
		Searching target				Alternative target
		Robots	Task incentive	Optimal position	Target	Robots	Task incentive	Optimal position
2	4	—	—	—	T3	R1	1.76
2	4	—	—	—	—	—	—	—