Table 4 Comparison of optimization capabilities for Benchmark functions.

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

Function

AO

RIME

GWO

ED

IAO

Mean

Std

Mean

Std

Mean

Std

Mean

Std

Mean

Std

\(f_1\)

4.3E-33

8.5E-33

3.8E-01

1.4E-01

1.1E-58

3.5E-58

5.2E-06

1.1E-05

0.0E+00

0.0E+00

\(f_2\)

4.8E-23

1.2E-22

4.3E-01

2.8E-01

9.6E-35

9.9E-35

2.8E-03

3.3E-03

0.0E+00

0.0E+00

\(f_3\)

1.3E-03

3.2E-03

3.6E-02

9.6E+01

1.9E-14

5.7E-14

6.8E+02

4.1E+02

0.0E+00

0.0E+00

\(f_4\)

5.2E-05

3.5E-05

3.4E+00

1.6E+00

1.9E-14

2.2E-14

1.4E+01

3.5E+00

0.0E+00

0.0E+00

\(f_5\)

2.7E+01

1.3E+01

3.6E+02

5.9E+02

2.7E+01

7.5E-01

9.0E+01

4.2E+01

2.6E+01

3.6E-01

\(f_6\)

8.2E-05

2.5E-04

3.9E-01

2.1E-01

6.4E-01

4.0E-01

1.3E-05

3.4E-05

9.8E-07

6.7E-07

\(f_7\)

1.4E-03

7.1E-04

2.0E-02

8.1E-03

7.8E-04

3.5E-04

4.5E-02

1.9E-02

4.9E-05

3.6E-05

\(f_8\)

-1.1E+04

3.2E+02

-1.1E+04

4.6E+02

-6.0E+03

8.6E+02

-9.9E+03

4.0E+02

-1.2E+04

2.4E+02

\(f_9\)

0.0E+00

0.0E+00

4.8E+01

1.0E+01

3.1E-01

1.7E+00

2.5E+01

3.8E+00

0.0E+00

0.0E+00

\(f_{10}\)

2.0E-14

9.3E-15

1.6E+00

5.6E-01

1.6E-14

4.4E-15

2.5E+00

6.8E-01

4.4E-16

3.0E-31

\(f_{11}\)

6.5E-03

1.8E-02

5.3E-01

1.6E-01

3.0E-03

8.8E-03

2.9E-02

3.3E-02

0.0E+00

0.0E+00

\(f_{12}\)

5.6E-04

1.7E-03

1.4E+00

1.2E+00

4.3E-02

3.0E-02

7.6E-02

2.5E-01

3.1E-05

1.2E-04

\(f_{13}\)

1.9E-01

2.1E-01

5.6E-02

2.8E-02

5.0E-01

2.1E-01

2.7E-02

5.6E-02

1.0E+00

5.9E-01

\(f_{14}\)

3.4E+00

3.9E+00

10.0E-01

5.5E-13

3.6E+00

3.8E+00

10.0E-01

3.4E-16

1.5E+00

1.8E+00

\(f_{15}\)

6.4E-03

1.3E-02

5.4E-03

1.3E-02

3.0E-03

6.9E-03

1.0E-03

3.1E-04

3.9E-04

1.3E-04

\(f_{16}\)

-1.0E+00

0.0E+00

-1.0E+00

1.6E-08

-1.0E+00

4.66E-09

-1.0E+00

0.0E+00

-1.0E+00

0.0E+00

\(f_{17}\)

4.0E-01

1.7E-03

4.0E-01

6.0E-09

4.0E-01

2.8E-07

4.0E-01

1.1E-16

4.0E-01

1.1E-04

\(f_{18}\)

4.8E+00

6.9E+00

3.0E+00

1.4E-07

3.0E+00

9.5E-06

3.0E+00

4.5E-16

3.0E+00

1.3E-08

\(f_{19}\)

-2.9E+00

1.5E-03

-3.9E+00

1.4E-07

-3.9E+00

2.1E-03

-3.9E+00

2.7E-15

-3.9E+00

3.5E-05

\(f_{20}\)

-3.3E+00

5.5E-02

-3.3E+00

5.5E-02

-3.3E+00

8.5E-02

-3.3E+00

1.4E-15

-3.3E+00

5.4E-02

\(f_{21}\)

-6.3E+00

3.2E+00

-8.5E+00

2.4E+00

-9.7E+00

1.6E+00

-8.6E+00

2.2E+00

-1.0E+01

2.1E-02

\(f_{22}\)

-5.3E+00

3.5E+00

-9.4E+00

2.2E+00

-1.0E+01

3.1E-04

-8.5E+00

2.5E+00

-1.0E+01

1.4E+00

\(f_{23}\)

-6.4E+00

3.7E+00

-9.6E+00

2.0E+00

-1.0E+01

1.8E+00

-9.0E+00

2.3E+00

-1.1E+01

7.9E-03