Figure15

Figure 15. The four frames from the $$ \varphi_3 $$-adherent siege tank firing control scenario are (Upper Left) scenario start showing siege tank taking a safe shot, (Upper Right) siege tank fires at zerglings within range of near-death marine, (Lower Left) low-health marine death due to friendly siege tank fire, and (Lower Right) siege tank holding fire and allowing marine to defeat final zergling.