Table 2.

Exploration time of each algorithm.

Algorithm		1	2	3	Avg
TGHM	Time (min)	2.51	2.46	2.78	2.58
	Target points	7	7	8	7
	Coverage (%)	98.9	96.4	99.1	98.13
	Travel Path (m)	72.39	67.78	77.52	72.53
FS	Time (min)	4.52	4.79	5.06	4.79
	Target points	16	17	18	17
	Coverage (%)	97.5	95.5	96.7	96.56
	Travel Path (m)	103.05	88.44	112.25	101.25
Naïve	Time (min)	4.47	5.84	5.23	5.18
	Target points	12	15	13	13
	Coverage (%)	69.9	79.1	75.6	74.87
	Travel Path (m)	53.79	72.62	66.52	64.31