Table 2: (a) For three units, the comparison of ops1 under different movement points and different dispersions. (b) For four units, the comparison of ops1 under different movement points and different dispersions.
(a)

Movement point 2Movement point 3Movement point 4
DispersedCompactDispersedCompactDispersedCompact

Algorithm 21427498049765079260423858371652
Algorithm 51423597719757579191423735371535
0.27%0.34%0.077%0.087%0.029%0.031%
0.30%0.080%0.030%

(b)

Movement point 2Movement point 3Movement point 4
DispersedCompactDispersedCompactDispersedCompact

Algorithm 2742560345264976560063948006951369653301744
Algorithm 5740272343804975760063884686949270453283548
0.31%0.42%0.082%0.099%0.030%0.034%
0.30%0.080%0.030%

shows the reduced percentage of using ops1 in Algorithm 5 instead of in Algorithm 2.
shows the estimated value of under Assumption 2.