Table 8: Performance of mapping method with IAS-SS strategy.
| Number of robots | Integration | Average (µ) | Pattern deviation (s) | tcal |
| 1 | Yes | 0.44 | 0.08 | - |
| No | 0.44 | 0.08 | ||
| 2 | Yes | 0.62 | 0.09 | 7.939 |
| No | 0.49 | 0.11 | ||
| 3 | Yes | 0.72 | 0.07 | 16.305 |
| No | 0.46 | 0.14 | ||
| 4 | Yes | 0.7 | 0.1 | 15.478 |
| No | 0.39 | 0.16 | ||
| 5 | Yes | 0.79 | 0.11 | 9.806 |
| No | 0.43 | 0.13 |