Research Article
Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains
Table 20
Summary of scalability performance on QLACS.
| | Row numbers | Number of robots | Time (sec) | Number of states inspected | | Robot 1 (R1) | Robot 2 (R2) | Robot 3 (R3) | Robot 4 (R4) |
| | 1 | 2 | 10.0006 | 4 | 3 | | | | 2 | 2 | 11.0007 | 4 | 3 | | | | 3 | 2 | 8.0005 | 4 | 3 | | | | 4 | 3 | 16.0009 | 1 | 3 | 3 | | | 5 | 3 | 17.001 | 1 | 3 | 3 | | | 6 | 3 | 12.0006 | 1 | 3 | 3 | | | 7 | 4 | 11.0006 | 1 | 1 | 3 | 2 | | 8 | 4 | 14.0006 | 1 | 1 | 3 | 2 | | 9 | 4 | 10.006 | 1 | 1 | 3 | 2 |
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