6.1.1. Scenarios

Simulations are conducted over synthetic scenarios (See Figure 10) where long distances and obstacle presence may offer similar challenging conditions that would be expected in the real world. The *Loop* and *Cross* scenarios (see Figure 10a,b) were mainly used to confirm the correctness of the implemented solutions and to show the advantages of using a multi-robot approach over a single one. Unfortunately, and caused by the shape and size of the free zones, on those scenarios there are nearly no possibilities to demonstrate any advantage of the proposed approaches over the others. Finally, the *Maze* scenario (Figure 10c), that represents the most challenging environment, was used to establish comparative results among the approaches. These results are further analysed below in Sections 6.3 and 6.4, respectively. Due to the big amount of collected data, only the values related to *Maze* runnings are summarised and discussed here. Even so, all charts and screen-shots generated from data concerning all of the three environments are available online: www.fing.edu.uy/~fbenavid/ projects/MuRE/mure.html.

**Figure 10.** Benchmark scenarios. All terrains cover an 80 <sup>×</sup> 80 m<sup>2</sup> flat surface with static obstacles (walls including the outer perimeter). Proposed as benchmarks in [45]. (**a**) Loop-like scenario; (**b**) Cross-like scenario; (**c**) Maze-like scenario.
