## 6 Baseline Statement and AAMO Approach Results
### Aamo Assessment
#### 6.4.1 Collected Data  
In order to conduct the assessment and comparison stated above, at least ten realistic software-in-the-loop simulations were executed on the _Maze_ scenario presented in Figure 10. All collected data is presented in Table 5 and are organised obeying the following scheme. The columns refer to (from left to right): Figure of **M**erits (FM), _Approach_, where \(Y\), _MP_, _Ebc_, and _AAMO:HO-Th_ stand for _Yamauchi_, _MinPos_, _Event-based Connectivity_ (implemented by an _AAMO:\(\infty\)_ instance, as was mentioned above in Section 4.4) and _Auto-Adaptive Multi-Objective:HumanOperator-Threshold_, respectively; and fleet size \(|R|\). The _HO-Threshold_ values are 20 m, 15 m, and 10 m (equivalent to 66%, 50%, and 33% of the communication range \(c_{i}\), respectively). Besides, since the communication conditions are non-ideal all runnings only concern fleets integrated with multiple robots (explicitly avoiding the single robot case because the communication conditions do not make any difference on it).  
\begin{table}
\begin{tabular}{l l c c c c c c c c c c} \hline \hline \multirow{3}{*}{**FM**} & \multirow{3}{*}{**Approach**} & \multicolumn{6}{c}{\(|R|\)} \\ \cline{3-11}  & & \multicolumn{2}{c}{**2**} & \multicolumn{2}{c}{**3**} & \multicolumn{2}{c}{**4**} & \multicolumn{2}{c}{**5**} & \multicolumn{2}{c}{**8**} \\ \cline{3-11}  & & **AVE** & **StD** & **AVE** & **StD** & **AVE** & **StD** & **AVE** & **StD** & **AVE** & **StD** \\ \hline \multirow{4}{*}{TT} & Y & 1216 & 131.7 & **904** & 73.6 & **759** & 78.2 & 653 & 53.3 & 496 & 86.5 \\  & MP & 1201 & 118.2 & 945 & 95.4 & 801 & 90.2 & 683 & 57.9 & **491** & 29.2 \\  & EbC & 1751 & 131.0 & 1600 & 190.7 & 1339 & 291.7 & 1028 & 154.6 & 750 & 89.0 \\  & AAMO:20 & 1292 & 87.8 & 1100 & 88.1 & 913 & 94.9 & 767 & 104.0 & 661 & 108.2 \\  & AAMO:15 & 1222 & 73.6 & 1100 & 130.1 & 823 & 79.0 & 723 & 65.7 & 606 & 85.8 \\  & AAMO:10 & **1137** & 85.3 & 960 & 123.1 & 774 & 94.3 & **620** & 76.9 & 514 & 23.1 \\ \hline \multirow{4}{*}{PL} & Y & 1592 & 144.2 & **1707** & 173.8 & **1842** & 190.0 & **1846** & 139.0 & **2216** & 290.7 \\  & MP & 1583 & 134.9 & 1744 & 177.7 & 1911 & 200.2 & 1960 & 173.8 & 2375 & 159.9 \\  & EbC & 2215 & 154.0 & 2929 & 323.5 & 3416 & 618.6 & 3181 & 415.1 & 3412 & 296.3 \\  & AAMO:20 & 1726 & 114.4 & 2086 & 222.5 & 2243 & 236.1 & 2394 & 252.8 & 2782 & 376.1 \\  & AAMO:15 & 1669 & 86.9 & 2056 & 207.8 & 2106 & 204.8 & 2263 & 219.2 & 2536 & 222.6 \\  & AAMO:10 & **1542** & 119.9 & 1859 & 225.6 & 1982 & 215.5 & 2007 & 221.7 & 2279 & 248.5 \\ \hline \multirow{4}{*}{CR} & Y & 99.2 & 0.33 & 99.4 & 0.37 & 99.3 & 0.33 & 99.3 & 0.24 & 99.2 & 0.20 \\  & MP & 99.3 & 0.35 & 99.4 & 0.29 & 99.4 & 0.33 & 99.6 & 0.34 & 99.2 & 0.20 \\  & EbC & 99.1 & 0.04 & 99.0 & 0.05 & 99.1 & 0.09 & 99.1 & 0.11 & 99.2 & 0.30 \\  & AAMO:20 & 99.1 & 0.26 & 99.2 & 0.28 & 99.2 & 0.28 & 99.3 & 0.35 & 99.4 & 0.37 \\  & AAMO:15 & 99.2 & 0.35 & 99.3 & 0.32 & 99.3 & 0.31 & 99.2 & 0.12 & 99.4 & 0.39 \\  & AAMO:10 & 99.3 & 0.32 & 99.3 & 0.40 & 99.3 & 0.29 & 99.3 & 0.29 & 99.1 & 0.05 \\ \hline \multirow{4}{*}{OSR} & Y & 13.39 & 6.72 & 20.21 & 17.71 & 28.95 & 19.00 & 23.28 & 13.94 & 6.44 & 1.28 \\  & MP & 20.49 & 13.22 & 28.72 & 18.85 & 30.