Cooperative Search by Multiple Unmanned Aerial Vehicles in a Nonconvex Environment

Table 2

Results of different search algorithms.

	Sweep-line	Random	Our cooperative
	search algorithm	search algorithm	search algorithm
Average time required to search out all the targets (s)	461	N/A	56
Success rate in 500 s	64%	2%	94%
Repeated detection rate in 500 s	4.64	17.74%	6.45%