Multi-UAV Search and Rescue with Enhanced A Algorithm Path Planning in 3D Environment

Table 2

Comparison between time cost and memory space of the optimal A algorithm with and without the task assignment algorithm.

		Time (s)	OPEN_set	Path length
UAV without TA		72.653799
UAV with TA	Range 1	4.762879
	Range 2	26.462905
	Range 3	26.172347
	Range 4	7.598442