Exploration Enhanced RPSO for Collaborative Multitarget Searching of Robotic Swarms

Table 3

Iteration times and full success rates (%) under different population.

# of robots	E2RPSO		MLPSO		RPSO		RDPSO
	Iter.	FSR (%)	Iter.	FSR (%)	Iter.	FSR (%)	Iter.	FSR (%)
10	8943	3	9048	0	9747	0	9997	0
15	3538	100	4048	21	9436	0	9980	0
20	3073	100	4255	11	9341	0	9001	0
25	2161	100	3615	0	6513	12	2535	6
30	2219	100	3156	20	5172	12	3074	10
35	1958	100	3072	0	5781	0	2810	14
40	1836	97	3011	13	5623	22	2821	25
45	1625	100	3864	22	5575	25	2628	33
50	1430	100	2144	45	3867	30	2447	65