Trajectory Optimization of Multi-UAVs for Marine Target Tracking during Approaching Stage

Table 4

Consume time of the algorithm with different UAVs.

Number of UAVs	The AET of the optimized solution (ms)	The AET of the algorithm (ms)	The maximum running time (ms)
Two UAVs	32.586	62.271	87.673
Three UAVs	38.211	111.793	125.527
Four UAVs	43.476	175.781	210.093
Five UAVs	48.489	241.526	265.688