Figure16

Figure 16. The four frames from the mission failure, $$ \varphi_4 $$-adherent siege tank firing control scenario are (Upper Left) scenario start showing siege tank taking a safe shot, (Upper Right) siege tank does not fire on zergling group in proximity to top marine, (Lower Left) top marine is defeated by zergling group and siege tank continues holding fire, and (Lower Right) mission failure because all marines defeated and siege tank cannot target nearby units.