Table 5 Distances of the offline task allocation algorithms with threat and energy constraints (km)
From: Offline and online task allocation algorithms for multiple UAVs in wireless sensor networks
Algorithm | UAV1 distance | UAV2 distance | UAV3 distance | UAV4 distance | Total distance | Maximum distance | Threat penalty |
|---|---|---|---|---|---|---|---|
Reference [21] | 66.8262 | 110.5447 | 81.3587 | 90.9541 | 349.6837 | 110.5447 | 0 |
Proposed offline algorithm | 58.3190 | 65.2507 | 70.6570 | 90.9069 | 285.1336 | 90.9069 | 0 |