Multirobot Coverage Path Planning Based on Deep Q-Network in Unknown Environment

Table 4

The repetition rates in different conditions in 120 simulations.

serial number	Repetition rate (%)
	Group 1	Group 2 (M = 1)	Group 3	Group 4	Group 1	Group 2 (M = 2)	Group 3	Group 4	Group 1	Group 2 (M = 5)	Group 3	Group 4
1	2.778	2.778	2.778	0	5.714	5.714	5.714	2.857	11.765	14.706	8.824	26.471
2	15.152	9.091	15.152	9.091	11.429	5.714	5.714	11.429	17.647	17.647	17.647	5.882
3	15.152	15.152	15.152	9.091	5.714	2.857	2.857	2.857	14.706	14.706	14.706	5.882
4	0	2.941	11.765	5.882	8.571	17.143	8.571	5.714	8.824	8.824	2.941	8.824
5	2.857	2.857	2.857	11.429	2.857	2.857	2.857	2.857	9.375	15.625	9.375	21.875
6	21.212	15.152	21.212	9.091	25.806	19.355	22.581	35.484	0	2.857	0	0
7	27.273	15.152	15.152	18.182	5.882	11.765	8.824	5.882	6.061	15.152	6.061	12.121
8	8.824	2.941	2.941	14.706	5.714	5.714	17.143	5.714	2.857	2.857	8.571	2.857
9	0	0	0	0	9.091	9.091	6.061	15.152	8.571	2.857	8.571	2.857
10	18.182	24.242	12.121	6.061	0	0	0	0	0	0	0	8.333
11	2.857	2.857	2.857	8.571	21.875	21.875	15.625	25	0	0	0	5.556
12	2.941	8.824	8.824	2.941	9.091	9.091	9.091	18.182	0	0	0	0
13	0	0	0	11.111	2.778	2.778	2.778	0	15.152	12.121	12.121	18.182
14	2.941	0	11.765	5.882	11.429	2.857	11.429	8.571	0	0	0	8.333
15	0	0	0	0	12.5	12.5	12.5	25	6.452	6.452	19.355	19.355
16	5.714	5.714	5.714	17.143	2.857	2.857	2.857	2.857	5.714	8.571	5.714	8.571
17	2.857	2.857	2.857	2.857	11.765	11.765	14.706	11.765	15.625	25	12.5	18.75
18	2.857	8.571	2.857	2.857	8.571	8.571	8.571	2.857	2.857	2.857	2.857	5.714
19	5.882	5.882	5.882	5.882	11.111	11.111	11.111	11.111	6.452	3.226	6.452	6.452
20	5.714	5.714	5.714	0	16.129	19.355	19.355	16.129	8.824	11.765	11.765	20.588
21	8.824	5.882	5.882	11.765	2.857	2.857	2.857	2.857	0	8.571	8.571	2.857
22	8.824	5.882	5.882	23.529	2.941	2.941	2.941	2.941	3.03	9.091	3.03	9.091
23	5.556	5.556	5.556	0	14.706	14.706	14.706	0	12.121	12.121	12.121	15.152
24	12.5	12.5	25	6.25	2.857	2.857	2.857	5.714	2.778	2.778	2.778	2.778
25	8.824	2.941	8.824	14.706	5.882	17.647	17.647	5.882	5.556	5.556	5.556	0
26	6.25	12.5	12.5	15.625	11.429	11.429	11.429	20	24.242	12.121	24.242	18.182
27	0	0	0	0	3.03	9.091	3.03	9.091	5.556	5.556	5.556	0
28	21.212	12.121	9.091	18.182	9.375	12.5	9.375	6.25	11.765	11.765	11.765	14.706
29	0	0	0	0	5.714	5.714	5.714	2.857	8.824	8.824	8.824	2.941
30	5.714	5.714	5.714	0	5.882	11.765	5.882	11.765	12.121	12.121	12.121	15.152
31	0	0	0	5.556	11.765	11.765	11.765	5.882	11.765	11.765	11.765	5.882
32	0	0	0	5.556	9.091	15.152	9.091	27.273	2.778	2.778	2.778	0
33	9.091	6.061	6.061	18.182	8.824	14.706	20.588	14.706	2.857	2.857	2.857	0
34	9.091	9.091	3.03	9.091	11.429	5.714	5.714	17.143	8.824	8.824	20.588	26.471
35	12.121	30.303	24.242	NULL	18.182	6.061	6.061	6.061	0	0	0	0
36	5.714	5.714	5.714	8.571	2.857	0	2.857	2.857	2.778	2.778	2.778	2.778
37	9.091	9.091	9.091	12.121	6.061	9.091	6.061	3.03	11.429	2.857	11.429	2.857
38	2.941	2.941	14.706	2.941	2.941	0	2.941	2.941	2.857	2.857	5.714	2.857
39	5.714	2.857	2.857	11.429	2.857	2.857	2.857	20	0	8.571	8.571	14.286
40	0	0	0	2.778	2.857	5.714	2.857	8.571	14.706	5.882	14.706	8.824
Means	6.866	6.497	7.244	7.676	8.261	8.638	8.389	9.631	7.122	7.572	8.08	8.785