An Improved Cooperative Control Method for Hybrid Unmanned Aerial-Ground System in Multitasks

Table 7

The comparison results of the cooperative task with different task assignment methods.

Relay station	Energy consumption ()			Time consumption ()
	Greedy	PSO	Proposed	Greedy	PSO	Proposed
S1				0.669	0.429	0.178
S2				0.536	0.356	0.169
S3				0.660	0.451	0.183
S4				0.514	0.338	0.147
S5				0.561	0.350	0.167
S6				0.598	0.374	0.151
S7				0.601	0.384	0.171
S8				0.617	0.391	0.177
S9				0.554	0.364	0.158
S10				0.678	0.450	0.197
Average				0.599	0.389	0.170
Standard deviation				0.055	0.039	0.014
Total of 200				116.248	74.439	32.881