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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