Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains

Table 12

QLACS without communication (inspecting all states).

Number of runs	1	2	3	4	5	6	7
Iterations	114	10	70	10	9	10	10
Time (sec)	43.0024	48.0028	41.0023	34.0019	34.0019	34.0019	35.002
Memory usage (bytes)	28440	17960	27216	17000	18456	17672	17968
Inspected states (R1)	F, G, E, D, A, B, C	F, G, E, D, A, B, C	F, G, E, D, A, B, C	F, G, E, D, A, B, C	F, G, E, D, A, B, C	F, G, E, D, A, B, C	F, G, E, D, A, B, C
Inspected states (R2)	C, B, A, D, E, G, F	C, B, A, D, E, G, F	C, B, A, D, E, G, F	C, B, A, D, E, G, F	C, B, A, D, E, G, F	C, B, A, D, E, G, F	C, B, A, D, E, G, F