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Performance benchmarking has become an important topic within robotics. It is indeed, a critical way to compare different solutions under different conditions. In this paper, we focus on performance benchmarking of multi-robot systems which explore and map unknown terrains. We present a collection of metrics to objectively compare different algorithms that can be applied to collaborative multi-robot exploration. We also identify parameters that impact robotic fleet performances. By varying thedoi:10.1109/iros.2015.7353852 dblp:conf/iros/YanFLB15 fatcat:zmcxig2yjzeevberzw5xyhzt7a