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

Table 4

Allocation metrics evaluated for each target, worst-case scenario amongst successful missions.

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	154.7	149.7	128
3	132.7	CV no.1	29.7	24.7	160
4	162.7	CV no.1	154.7	149.7	128