Multi-USV System Cooperative Underwater Target Search Based on Reinforcement Learning and Probability Map

Table 2

Contrast test.

Setup			Search performance(search time and search accuracy)
No. of USVs	No. of targets	No. of obstacles	CSBDRL	Coverage control	Random
5	2	0	131 (100%)	235 (98.3%)	410 (79.4%)
5	3	0	144 (99.6%)	243 (96.3%)	456 (73.3%)
5	4	0	161 (99.7%)	265 (94.0%)	790 (67.2%)