Autonomous Last-Mile Delivery Based on the Cooperation of Multiple Heterogeneous Unmanned Ground Vehicles

Figure 5

Simulation results: (a) simulation with 50 packages using the classic centralized PSO controller, the ACSO controller, and the DLC in 5 randomly generated maps; (b) simulation with 75 packages using the classic centralized PSO controller, the ACSO controller, and the DLC in 5 randomly generated maps; (c) simulation with 100 packages using the classic centralized PSO controller, the ACSO controller, and the DLC in 5 randomly generated maps; (d) simulation with 150 packages using the classic centralized PSO controller, the ACSO controller, and the DLC in 5 randomly generated maps.

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