Table 9 Distances of the online and offline task allocation algorithms with energy constraint (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] | 103.0753 | 41.7938 | 94.4393 | 94.6392 | 333.9476 | 103.0753 | 0 |
Proposed offline algorithm | 67.7887 | 65.4857 | 68.4093 | 67.9007 | 269.5844 | 68.4093 | 0 |
Proposed online algorithm | 67.7887 | 65.4857 | 65.2353 | 69.8132 | 268.3229 | 69.8132 | 0 |