Performance of mapping method varying the radius (IAS-SS active).

Table 9: Performance of mapping method varying the radius (IAS-SS active).

Number of robots	R₁	R₂	R₃	R₄	R₅
4 meters	0.92 ± 0.11	0.91 ± 0.11	0.95 ± 0.06	0.92 ± 0.11	0.94 ± 0.09
8 meters	0.97 ± 0.06	0.97 ± 0.05	0.97 ± 0.06	0.96 ± 0.06	0.96 ± 0.06
16 meters	0.99 ± 0.01	0.99 ± 0.01	0.99 ± 0.01	0.99 ± 0.01	0.99 ± 0.01
24 meters	0.98 ± 0.02	0.98 ± 0.02	0.98 ± 0.02	0.98 ± 0.02
32 meters	0.96 ± 0.04	0.94 ± 0.04	0.97 ± 0.03	0.94 ± 0.05	0.95 ± 0.05
40 meters	0.94 ± 0.06	0.90 ± 0.13	0.93 ± 0.08	0.88 ± 0.12	0.88 ± 0.12