Table 5 Results of operation replanning after the change event.
From: Dynamic reconnaissance operations with UAV swarms: adapting to environmental changes
Scenario | Number of waypoints \(\:{W}^{{\prime\:}}\) | Time of operation \(\:{T}^{{\prime\:}}\) | Optimization time (s) | ||
|---|---|---|---|---|---|
Best (s) | Average (s) | Stdev (s) | |||
d01 change 1 | 51.93 | 360.31 | 380.87 | 10.07 | 0.73 |
d02 change 1 | 85.98 | 120.87 | 132.52 | 4.77 | 2.32 |
d03 change 1 | 69.75 | 130.95 | 139.02 | 2.65 | 4.18 |
d04 change 1 | 70.70 | 155.49 | 168.43 | 5.85 | 3.34 |
d05 change 1 | 73.69 | 124.67 | 136.92 | 5.27 | 1.66 |
d06 change 1 | 56.26 | 105.81 | 115.96 | 4.55 | 0.47 |
d06 change 2 | 22.82 | 108.96 | 135.85 | 10.12 | 0.01 |
