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
10 120.5/99.40.989/1 277.5/168
25 110.1/99.8 0.984/1 198.5/116
50 99.3/99.790.994/0.989 129.5/103.5