\begin{table}[]
\centering
\footnotesize
\begin{tabular}{llrrrrrr}
\toprule
\multirow{2}{*}{\textbf{Map}} & \multirow{2}{*}{\textbf{Variant}} & \multicolumn{3}{c}{\textbf{ROS sim.} $[s]$} & \multicolumn{3}{c}{\textbf{Off-line} $[s]$}\\
 & & $T_f^{sim}$ & $T_{f+}^{sim}$ & total & $T_f$ & $T_{f+}$ & total \\
\midrule
\multirow{2}{*}{\textit{potholes}}
 & P11vns & 224 & 249 & 654 & & & \\
 & P11gi & 214 & 244 & 669 & & & \\
\midrule
\multirow{2}{*}{\textit{warehouse}}
 & P11vns & 217 & 237 & 868 & & & \\
 & P11gi & 218 & 241 & 861 & & & \\
\midrule
\multirow{2}{*}{\textit{jari-huge}}
 & P11vns & 398 & 441 & 1363 & & & \\
 & P11gi & 418 & 477 & 1404 & & & \\
\bottomrule
\end{tabular}
\end{table}
