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Table 1 Comparison between Space D* and D*

From: Space D*

No. of Robots

Time (s)

Distance (m)

Speed (m/s)

Mean

StDev

Mean

StDev

Mean

StDev

Using the Space D*

10

25.6

7.6

89.74

38.16

3.71

0.82

15

29.7

12.2

88.91

36.66

3.03

0.7

20

33.2

16.8

86.29

35.07

2.69

0.61

Using only the D*

10

33.2

10.3

83.21

29.61

2.57

0.64

15

42.4

16.0

85.68

31.07

2.13

0.58

20

50.9

21.8

86.91

33.48

1.74

0.39