Table 11 Comparison results of test case.

From: An improved artemisinin algorithm for task allocation in heterogeneous robot systems for chemical inspection

Test Case

\(N_R\)

\(K_T\)

Results

GA

PSO

ED

GWO

AO

IAO

IAO-v

CPLEX

Unit

Case 1

3

20

Best

792.1

786.2

670.3

670.3

670.3

670.3

670.3

670.3

m

Avg

837.8

843.2

673.7

696.1

677.7

675.8

671.4

670.3

m

Time

13.68

24.60

11.66

26.76

11.32

12.44

111.12

5.97

s

Case 2

3

30

Best

1164.2

1141.5

821.6

843.3

823.0

821.6

821.6

821.6

m

Avg

1253.3

1233.4

891.1

897.6

845.5

833.9

824.3

821.6

m

Time

16.23

34.10

13.6

34.44

14.2

59.08

139.18

199.14

s

Case 3

3

46

Best

1725.1

1675.4

1208.1

1149.7

1048.6

1008.6

981.2

1049.2

m

Avg

1842.0

1841.2

1261.8

1236.3

1084.5

1034.4

1008.3

1050.2

m

Time

23.5

50.05

17.75

46.6

19.86

26.61

182.69

540

s

Case 4

4

20

Best

793.0

838.9

674.6

675.9

674.6

674.6

674.6

660.06

m

Avg

843.2

920.6

676.2

701.1

688.9

686.9

674.7

660.06

m

Time

14.67

26.23

12.5

28.27

12.32

23.96

119.93

4.05

s

Case 5

4

30

Best

1168.6

1226.7

779.1

801.4

729.4

728.5

728.5

793.6

m

Avg

1275.8

1337.4

866.8

879.0

815.0

774.8

745.5

793.6

m

Time

18.3

35.41

14.92

37.8

15.19

61.91

149.04

540

s

Case 6

4

46

Best

1658.2

1729.0

1220.1

1007.0

994.2

937.1

917.4

953.9

m

Avg

1890.9

1894.8

1293.7

1186.4

1058.8

972.2

937.6

953.9

m

Time

23.56

51.55

19.49

50.42

20.85

87.98

197.44

540

s

Case 7

5

30

Best

1294.6

1345.4

1140.5

1157.8

1148.1

1074.1

1062.0

1126.4

m

Avg

1395.4

1451.7

1170.1

1206.5

1175.1

1155.3

1125.1

1126.4

m

Time

18.324

36.17

15.34

37.36

16.3

66.90

154.13

540

s

Case 8

5

50

Best

2024.7

2045.5

1595.4

1483.2

1303.2

1232.3

1223.8

1291.2

m

Avg

2233.0

2199.3

1638.0

1606.6

1399.6

1266.9

1243.0

1294.2

m

Time

25.37

56.23

20.63

53.05

22.43

95.42

211.69

540

s