Table 5: Performance of mapping method with uniform strategy.
| Number of robots | Integration | Average (m) | Pattern deviation (s) | tcal |
| 1 | Yes | 0.2 | 0.05 | - |
| No | 0.2 | 0.05 | ||
| 2 | Yes | 0.24 | 0.07 | 3.43 |
| No | 0.2 | 0.06 | ||
| 3 | Yes | 0.25 | 0.06 | 3.491 |
| No | 0.21 | 0.06 | ||
| 4 | Yes | 0.28 | 0.12 | 2.542 |
| No | 0.21 | 0.06 | ||
| 5 | Yes | 0.37 | 0.16 | 3.806 |
| No | 0.23 | 0.1 |