Table 7: Performance of mapping method without integration-IAS-SS strategy.
| Number of robots | R1 | R2 | R3 | R4 | R5 |
| 1 | 0.44 ± 0.08 | - | - | - | - |
| 2 | 0.46 ± 0.13 | 0.52 ± 0.09 | - | - | - |
| 3 | 0.43 ± 0.17 | 0.51 ± 0.13 | 0.44 ± 0.12 | - | - |
| 4 | 0.42 ± 0.14 | 0.42 ± 0.16 | 0.38 ± 0.18 | 0.37 ± 0.16 | - |
| 5 | 0.42 ± 0.11 | 0.45 ± 0.15 | 0.44 ± 0.14 | 0.42 ± 0.12 | 0.44 ± 0.17 |