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

Table 18

Time cost comparison for QL, ACS, and QLACS.

Runs	QL time cost (sec)	ACS time cost (sec)	QLACS time cost (sec)
1	33.0019	37.0021	7.0004
2	31.0019	37.0021	8.004
3	31.0018	39.0022	9.0005
4	31.0018	32.0019	9.0005
5	29.0023	35.002	11.0006
6	30.0017	43.0025	12.0007
7	31.0018	60.0035	9.0006
Average	30.8590	40.4309	9.2868