Table 1.
Consolidated results from experiment trials.
| Trial-1 | Trial-2 | Trial-3 | Trial-4 | Trial-5 | |
|---|---|---|---|---|---|
| Environment | Indoor | Semi-outdoor | Indoor | Indoor | Semi-outdoor |
| Floor type | Polished concrete | Coarse cemented | Vinyl | Vinyl | Cemented and wooden |
| Area Explored (m2) | 246.70 | 187.53 | 118.39 | 217.11 | 248.17 |
| Samples audited | 100 | 76 | 48 | 127 | 63 |
| No of dirt locations | 6 | 6 | 4 | 8 | 4 |
|
Average
sample audit score |
0.354 | 0.361 | 0.376 | 0.384 | 0.392 |
|
Peak
sample audit score |
0.437 | 0.442 | 0.495 | 0.486 | 0.491 |
|
Peak audit score
location (m,m) |
(13.00,2.25) (11.15,4.50) (13.50,4.35) |
(7.55,8.05) (19.05,12.45) (18.25,13.00) |
(13.15,11.00) (15.45,12.05) (14.25,11.15) |
(17.45,10.25) (21.00,13.15) (19.35,9.75) |
(20.15,21.00) (22.35,22.50) |
|
Peak dirt distribution
location (m,m) |
(3,0) | (12,9) | (16,8) | (16,10) | (0,3) |
| Exploration time (s) | 1580.0 | 1551.0 | 1175.0 | 1810.0 | 1247.0 |
| Total audit score | 37.032 | 31.152 | 21.850 | 48.531 | 25.739 |
|
Cleaning
benchmark score (Out of 100) |
62.968 | 59.011 | 54.479 | 61.787 | 59.144 |