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Table 2 Comparison between methods with and without exchange of information, on the map of Fig. 5 (map 1) and on the map of Fig. 6 (map 2)

From: Space D*

Map 1
No. of Robots Time (s) Distance (m) Speed (m/s)
Mean StDev Mean StDev Mean StDev
Method with exchange of information
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
Method without exchange of information
10 23.8 6.5 89.23 38.56 3.91 0.88
15 29.6 11.8 90.86 39.9 3.12 0.69
20 35.4 17.9 92.15 41.08 2.74 0.63
Map 2
No. of Robots Time (s) Distance (m) Speed (m/s)
Mean StDev Mean StDev Mean StDev
Method with exchange of information
10 37.9 18.3 126.26 63.71 3.43 0.74
15 39.4 19.0 113.05 52.12 2.89 0.66
20 40.3 19.7 99.74 44.48 2.41 0.42
Method without exchange of information
10 42.2 22.1 142.65 71.09 3.51 0.83
15 47.9 24.9 145.33 75.39 3.07 0.7
20 51.8 27.2 146.14 78.95 2.82 0.61