Fig. 6: Specific speedup and optimum configuration.
The specific speedup, a measure of construction efficiency, is calculated (for the target shape (cone) with different resolutions using 1, 2, 3, and 4 robots of size R (H = 1), R2 (H = 2), and R4 (H = 3)) by dividing the construction speedup (compared to construction with 1 robot of each size) by the effective number of robots (total number of robotic parts in the system). The dark blue color suggests higher specific speedup.
