Table 5.

Computation time for path planning (seconds) with different number of UAVs

Number of UAVs	Computation time for path planning (in seconds)
	Proposed HGJMFOA	GTMPSO	MPIPA	AFSAPPM	ACOACPPM
4	1.86	1.94	2.05	2.23	2.35
8	1.95	2.08	2.16	2.39	2.46
12	2.14	2.21	2.32	2.43	2.54
16	2.29	2.32	2.45	2.54	2.68
20	2.38	2.44	2.56	2.65	2.78
24	2.49	2.56	2.65	2.77	2.89
28	2.56	2.88	2.96	2.84	2.95
32	2.67	2.94	3.12	3.24	3.35
36	2.79	3.12	3.25	3.45	3.56
40	2.84	3.25	3.38	3.56	3.69