Figure 7

(a-i: from left to right, then top to bottom): Simulation results for multi-robot adaptive sampling with federated decentralized filter. Partial field estimates are calculated after every sample. Complete field estimates are calculated after every 80 samples. Norm of error$({‖g-g_{est\_k+1}‖}_2)$becomes 19.33 in 320 samples, and it took 2.89 min.