Skip to main content

Table 8 Completion time J in sec. for the subpopulation-based genetic algorithm with different mutation operators

From: Performance impact of mutation operators of a subpopulation-based genetic algorithm for multi-robot task allocation problems

Problem

Criterion

GA1

GA2

GA3

GA4

GA5

GA6

GA7

GA8

Prob.A

\(J_{\mathrm{min}}\)

240.87

259.00

170.06

207.28

184.07

178.41

170.10

169.73

\(J_{\mathrm{mean}}\)

273.98

310.50

189.55

225.93

200.86

198.31

200.00

197.73

\(J_{\mathrm{max}}\)

314.81

396.67

225.56

278.89

224.40

245.39

229.00

223.99

Prob.B

\(J_{\mathrm{min}}\)

228.42

293.00

185.95

222.65

193.22

193.25

191.36

189.00

\(J_{\mathrm{mean}}\)

260.16

345.23

207.03

243.05

206.74

206.91

213.62

204.46

\(J_{\mathrm{max}}\)

294.05

390.84

228.75

270.26

227.21

246.90

234.23

229.72

Prob.C

\(J_{\mathrm{min}}\)

270.50

328.82

252.72

234.96

220.76

251.82

248.93

222.82

\(J_{\mathrm{mean}}\)

308.14

384.37

292.78

321.59

256.44

298.16

312.96

257.80

\(J_{\mathrm{max}}\)

388.62

440.42

376.46

434.31

302.74

328.96

390.78

324.31

Prob.D

\(J_{\mathrm{min}}\)

252.29

340.35

255.96

285.73

218.58

242.96

245.62

220.00

\(J_{\mathrm{mean}}\)

306.57

365.23

333.07

335.02

261.11

302.09

294.19

252.44

\(J_{\mathrm{max}}\)

343.06

392.85

383.95

410.17

290.83

342.09

336.63

283.71

  1. Best results highlighted in italic face
  2. GA1—Swap; GA2—Insertion; GA3—Inversion; GA4—Displacement; GA5—Swap and inversion; GA6—Insertion and inversion; GA7—Displacement and inversion; GA8—Swap, insertion, inversion, and displacement. \({}^{2}\) Prob.A and Prob.B without cooperative tasks; Prob.C and Prob.D with cooperative tasks