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 |