Fig. 4
From: Offline and online task allocation algorithms for multiple UAVs in wireless sensor networks
Convergence of the fitness functions of the task allocation algorithms with both constraints. Offline algorithm: the fitness function value of the proposed offline algorithm varies with the number of iterations. Reference [20]: The fitness function value of the algorithm which was proposed in Reference [20] varies with the number of iterations. Online algorithm: The fitness function value of the proposed online algorithm varies with the number of iterations