Multiple Chemical Sources Localization Using Virtual Physics-Based Robots with Release Strategy

Table 5

Comparisons on time consumption of sources located at three different frequencies with four different radii of taboo domain.

Number of sources located	1	2	3	4	5
Standard frequency
= 0.3 m	174	229	254	270	306
= 0.4 m	174	230	254	280	315
= 0.5 m	174	231	254	280	301
= 0.6 m	174	231	254	276	248
Twice frequency
= 0.3 m	173	238	332	343	—
= 0.4 m	173	242	307	343	658
= 0.5 m	173	270	321	343	391
= 0.6 m	173	287	343	365	749
Treble frequency
= 0.3 m	181	256	278	335	379
= 0.4 m	181	257	278	284	323
= 0.5 m	181	261	278	326	378
= 0.6 m	181	269	278	370	613