Dynamic Detection of Topological Information from Grid-Based Generalized Voronoi Diagrams

Table 3

A comparison of the cell visits on four GVD construction and local repair scenarios: static construction for a complete map (static) and incremental construction with 75%, 50%, and 25% of the sites moving randomly in the map.

Algorithm	Static		75% move		50% move		25% move
	𝜇	𝜎	𝜇	𝜎	𝜇	𝜎	𝜇	𝜎
Dynamic Brushfire	49546	1203	39732	736	22098	881	16350	903
BL	19819	864	15260	917	10278	697	5173	624
DTD	20919	791	14936	991	10662	1012	5248	471

Only local repair methods are compared.