Group Mobility Model for Complex Multimission Cooperation of UAV Swarm

Table 8

Average makespans of individual tasks and the whole mission group with different moving strategies (unit: ms).

Mission group	Random class model		Reference class model		Associate class model		The proposed model
	Average makespan of individual tasks	Average makespan of the whole mission group	Average makespan of individual tasks	Average makespan of the whole mission group	Average makespan of individual tasks	Average makespan of the whole mission group	Average makespan of individual tasks	Average makespan of the whole mission group
G1	NaN	NaN	4.66	74.56	4.41	70.56	2.65	40.96
G2	NaN	NaN	4.13	66.08	4.35	69.60	2.54	40.64
G3	NaN	NaN	4.51	72.16	4.55	72.80	2.77	44.32
G4	NaN	NaN	5.04	80.64	4.41	70.56	2.66	42.56
G5	NaN	NaN	4.51	72.16	4.32	69.12	2.43	38.88
Average makespan of the same mobility model	NaN	NaN	4.57	73.12	4.41	70.53	2.61	41.47