Exploration Enhanced RPSO for Collaborative Multitarget Searching of Robotic Swarms

Table 4

Iteration times and full success rate (%) under different targets number.

# of targets	E2RPSO		MLPSO		RPSO		RDPSO
	Iter.	FSR (%)	Iter.	FSR (%)	Iter.	FSR (%)	Iter.	FSR (%)
1	371	100	235	100	2226	100	365	100
2	743	100	403	100	3912	40	1013	87
3	860	100	930	67	4103	37	1130	83
4	1091	100	705	60	4565	3	2084	73
5	1662	97	815	50	4890	0	1271	37
6	2252	100	1653	47	4252	7	1866	37
7	2319	93	2514	27	6006	13	2519	13
8	2908	100	2054	10	5524	10	1537	3
9	2999	97	2364	0	3618	3	2765	7
10	3234	93	2677	0	5782	0	2653	0