Minefield Mapping Using Cooperative Multirobot Systems

Table 4

Sensor model.

100 × 100 area	Sensor model (noisy/ideal)
No. of sweepers	Area %	F-measure	Time (sec)
5	104/99.1	0.97/1	361/259
10	120.5/99.4	0.989/1	277.5/168
25	110.1/99.8	0.984/1	198.5/116
50	99.3/99.79	0.994/0.989	129.5/103.5