Table:
Algorithm	Localization Error	Execution Time
1 Robot	4 Robots	1 Robot	4 Robots	Reduction
Centroid [15]	2.30 m	2.60 m	226 min	56 min	75%
Weighted Centroid [16]	1.70 m	1.40 m	226 min	56 min	75%
PSO [14]	0.63 m	0.63 m	226 min	56 min	75%
WiMAP [17]	0.22 m	0.20 m	226 min	56 min	75%
DWiMAP [18]	0.19 m	0.19 m	59 min	18 min	70%

Parse the picture content behind with markdown code: | <ROWSPAN=2> Algorithm | <COLSPAN=2> Localization Error | <COLSPAN=3> Execution Time | 
 | 1 Robot | 4 Robots | 1 Robot |

4 Robots | Reduction | 
 | --- | --- | --- | --- | --- | --- | 
 | Centroid [15] | 2.30 m | 2.60 m | 226 min | 56 min | 75% | 
 | Weighted Centroid [16] | 1.70 m | 1.40 m | 226 min | 56 min | 75% | 
 | PSO [14] | 0.63 m | 0.63 m | 226 min | 56 min | 75% | 
 | WiMAP [17] | 0.22 m | 0.20 m | 226 min | 56 min | 75% | 
 | DWiMAP [18] | 0.19 m | 0.19 m | 59 min | 18 min | 70% |