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

Table 19

Route cost comparison for QL and QLACS.

Runs	QL (sec)		QLACS (sec)
	Path cost for R1	Path cost for R2	Path cost for R1	Path cost for R2
1	20	20	10	10
2	32	19	10	10
3	28	14	10	10
4	27	27	10	10
5	39	30	10	10
Average	29.5	22	10	10