Table 4: Performance of mapping method without-uniform strategy.
| Number of robots | R1 | R2 | R3 | R4 | R5 |
| 1 | 0.20 ± 0.05 | - | - | - | - |
| 2 | 0.25 ± 0.05 | 0.20 ± 0.08 | - | - | - |
| 3 | 0.25 ± 0.05 | 0.25 ± 0.09 | 0.19 ± 0.04 | - | - |
| 4 | 0.24 ± 0.12 | 0.23 ± 0.08 | 0.20 ± 0.04 | 0.18 ± 0.02 | - |
| 5 | 0.30 ± 0.14 | 0.20 ± 0.07 | 0.25 ± 0.13 | 0.22 ± 0.10 | 0.20 ± 0.08 |