Research Article
Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains
Table 16
Navigation behaviour computations.
| Number of runs | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | Number of Ants | 5 | 7 | 8 | 9 | 10 | 11 | 12 | 15 | 28 | Iterations | 12 | 26 | 14 | 16 | 23 | 14 | 16 | 23 | 22 | Time (sec) | 37.0021 | 37.0021 | 39.0022 | 60.0035 | 32.0019 | 33.0019 | 35.002 | 43.0025 | 65.0037 | Best train distance (R1) | 12 | 12 | 10 | 10 | 10 | 10 | 10 | 10 | 10 | Best trail distance (R2) | 10 | 12 | 12 | 10 | 10 | 12 | 10 | 10 | 10 |
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