测试问题

a₁

a₂

a₃

a₄

a₅

a₆

a₇

起点

终点

UAV 1

1

0.5

1

0

1

2

0.1

(−17, −19)

(18, 15)

UAV 2

2

1

6

5

1.2

3

2.1

(−18, −16)

(17, 18)

UAV 3

5

5

1.2

1

3

1.8

1

(−20, −15)

(17, 19)

UAV 4

5

6

3

2

6

1.5

2

(−17, −19)

(18, 15)

UAV 5

3

4

1.8

2.8

3

1.2

2

(−20, −15)

(17, 19)

UAV 6

1

0.5

0.5

1.8

0.5

0.5

0.5

(−19.5, −19.5)

(19.5, 18)

UAV 7

3

3

3

1.8

4

1.8

3

(−19.5, −19.5)

(19.3, 19.3)

UAV 8

4

2

3

3

4

1

3

(−19.5, −19.5)

(18.5, 17.5)