Cooperative Solution of Multi-UAV Rendezvous Problem with Network Restrictions

Table 1

The comparisons of the energy consumptions using NCOC method and CGOC method.

Communication restrictions	NCOC method (×)			CGOC method (×)
	UAV1	UAV2	UAV3	UAV1	UAV2	UAV3
Delay I and topologies	1650.6	1565.0	442.2	1620.8	1461.7	258.7
Delay II and topologies	1650.6	1565.4	442.5	1611.7	1453.2	257.8
Delay III and topologies	1651.3	1566.4	443.6	1597.0	1440.3	257.0