Minefield Mapping Using Cooperative Multirobot Systems

Table 2

Mobility models.

100 × 100 area	Mobility model (coordinated/random)
No. of sweepers	Area %	F-measure	Time (sec)
5	104/115.7	0.97/0.62	361
10	120.5/130.3	0.989/0.64	277.5
25	110.1/72.6	0.984/0.29	198.5
50	99.3/20.3	0.994/0.2	129.5