Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

Table 3

Task allocation metrics evaluated for each target, best-case scenario.

Target no.	Actual time Announced (s)	Winner	TART; (s)	ETART; (s)	BTA; (bytes)
1	12.7	CV no.1	29.7	24.7	160
2	42.7	CV no.2	34.7	29.7	160
3	132.7	CV no.1	29.7	24.7	160
4	162.7	CV no.1	29.7	24.7	160