Table 3: Results from the proposed algorithm under two different operation modes.

Number of shipsTotal operation times of all tugboatsAverage operation times of all tugboats
RCOMUCOMGAP1RCOMUCOMGAP2

10374337430312 312 0
154983495132415 413 3
206800670595567 559 8
258481840576707 700 6
3010012998824834 832 2

Operation times of all tugboats under the RCOM—values under the UCOM; 2average operation times of all tugboats under the RCOM—values under the UCOM.