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Table 1: Performance comparison of 2-BS HAML and AML with various number of BSs.

HAML AML # BS 2 BSs 3 BSs 4 BSs 5 BSs 6 BSs 7 BSs RMS (Km) 0.0944 0.1117 0.1019 0.0991 0.0972 0.0937