Robot 1 and Robot 0: Relative Update Performance Analysis in Simulation
| Robot 1 Initial Error: 31.62 | Robot 0 Initial Error: 14.14 | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| w/o ZU used in Robot 2 | w/ ZU used in Robot 2 | w/o ZU used in Robot 2 | w/ ZU used in Robot 2 | ||||||
| Correction (m) | Improvement (%) | Correction (m) | Improvement (%) | Correction (m) | Improvement (%) | Correction (m) | Improvement (%) | ||
| Horiz. Error | T1 | 28.27 | 89.39 % | 30.70 | 97.07 % | 10.43 | 73.75 % | 13.46 | 95.17 % |
| T2 | 30.09 | 95.14 % | 30.90 | 97.72 % | 11.72 | 82.92 % | 12.94 | 91.53 % | |
| T3 | 28.13 | 88.96 % | 30.02 | 94.93 % | 11.00 | 77.76 % | 12.62 | 89.27 % | |
| T4 | 21.23 | 67.13 % | 29.55 | 93.45 % | 3.52 | 24.93 % | 11.99 | 84.81 % | |
| T5 | 20.44 | 64.63 % | 30.48 | 96.40 % | 2.62 | 18.50 % | 12.72 | 89.99 % | |
* Improvement is calculated by dividing the correction by the initial error of the robots.