Dynamic Routing and Coordination of Cluster for Unmanned Aerial Vehicle (UAV) Swarms

Table 1

Comparison of both algorithms in terms of localization error, cost, and efficiency.

Method	Total number of nodes	Max error for localization	Min error for localization	Mean error for localization	Mean cost	Efficiency (%)
CPSO	100	1.25	0.60	0.925	14.87	98
PSO	100	1.58	0.88	2.02	20.87	95