Table 6: Performance of mapping method using integration-IAS-SS strategy.
| Number of robots | R1 | R2 | R3 | R4 | R5 |
| 1 | 0.44 ± 0.08 | - | - | - | - |
| 2 | 0.62 ± 0.09 | 0.63 ± 0.09 | - | - | - |
| 3 | 0.72 ± 0.08 | 0.74 ± 0.07 | 0.72 ± 0.07 | - | - |
| 4 | 0.70 ± 0.10 | 0.70 ± 0.10 | 0.70 ± 0.10 | 0.70 ± 0.10 | - |
| 5 | 0.79 ± 0.11 | 0.80 ± 0.11 | 0.80 ± 0.11 | 0.80 ± 0.12 | 0.79 ± 0.11 |