Exploration Enhanced RPSO for Collaborative Multitarget Searching of Robotic Swarms

Table 5

Iteration times and full success rate (%) under different map sizes.

Map size	E2RPSO		MLPSO		RPSO		RDPSO
	Iter.	FSR (%)	Iter.	FSR (%)	Iter.	FSR (%)	Iter.	FSR (%)
	1537	93	2492	87	10000	0	3775	10
	2289	100	3159	100	10000	0	5270	10
	2705	100	3357	100	10000	0	4232	20
	3181	100	3629	83	10000	0	5397	23
	2976	97	3275	83	10000	0	4534	23
	2913	100	3894	80	10000	0	5896	6.7
	3012	100	3757	93	10000	0	6813	6.7
	3379	93	3427	73	10000	0	4933	3.3
	4170	100	3788	67	10000	0	7545	13
	4153	97	4432	60	10000	0	10000	0
	3901	90	5187	77	10000	0	6281	3.3
	4673	93	6469	63	10000	0	6935	3.3
	4996	93	6750	60	10000	0	8542	3.3
	5019	83	6588	53	10000	0	8075	3.3
	4906	83	6940	63	10000	0	10000	0
	5049	80	7012	60	10000	0	10000	0