A Swarm Robotic Exploration Strategy Based on an Improved Random Walk Method

Table 2

Comparison of proposed RW method with other methods when robots are distributed at random initially. Mean: average coverage ratio; Std.: standard deviation.

Methods	Brownian motion		Lévy flight		Our method
	Mean	Std.	Mean	Std.	Mean	Std.
1	1.08%	6.98×10^−4	4.40%	4.30×10^−3	5.00%	5.71×10^−3
10	5.38%	4.04×10^−3	33.59%	1.02×10^−2	41.34%	1.17×10^−2
20	9.73%	4.11×10^−3	55.54%	1.07×10^−2	62.77%	1.30×10^−2
30	13.72%	6.86×10^−3	69.34%	9.59×10^−3	77.59%	1.08×10^−2