6.4.1. Collected Data

In order to conduct the assessment and comparison stated above, at least ten realistic software-inthe-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): **F**igure of **M**erits (FM), *Approach*, where *Y*, *MP*, *EbC*, and *AAMO:HO-Th* stand for *Yamauchi*, *MinPos*, *Event-based Connectivity* (implemented by an *AAMO:*∞ 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 *ci*, 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).

**Table 5.** *AAMO* Results obtained under non-ideal communication conditions on Maze environment.

