Figure5
![Multi-robot cooperative search for radioactive sources based on particle swarm optimization particle filter](https://image.oaes.cc/b5f21a9a-3f1c-41b4-8e44-80bc5b955dfd/ir3038-5.jpg)
Figure 5. PSO-PF vs. PF for multi-robot radiation source search: (A) Relative Estimation Error of PSO-PF; (B) Relative Estimation Error of PF; (C) Single-step search time comparison. EPF: Extended Kalman Particle Filter; PSO-PF: Particle Swarm Optimization-Particle Filter.