Table 2 Performance of FCP and CPO algorithm

A1

Tango2

1.12

− 0.049

− 41.61

0.27

− 0.027

− 14.45

1.49

− 0.082

− 54.51

FoodMarket4

0.53

− 0.072

− 46.43

0.32

− 0.034

− 15.17

0.93

− 0.117

− 59.04

Campfire

0.85

− 0.056

− 42.77

0.33

− 0.028

− 14.59

1.26

− 0.085

− 54.62

A2

CatRobot

0.96

− 0.045

− 48.02

0.25

− 0.035

− 13.98

1.28

− 0.079

− 58.63

DaylightRoad2

0.47

− 0.033

− 41.16

0.29

− 0.029

− 14.46

0.77

− 0.081

− 54.77

ParkRunning3

0.83

− 0.112

− 49.46

0.32

− 0.032

− 12.61

1.38

− 0.073

− 58.91

B

BasketballDrive

0.79

− 0.062

− 39.63

0.27

− 0.029

− 14.02

1.15

− 0.104

− 49.28

BQTerrace

1.08

− 0.074

− 53.21

0.35

− 0.027

− 15.27

1.58

− 0.096

− 58.76

Cactus

1.35

− 0.104

− 43.08

0.44

− 0.029

− 13.39

1.87

− 0.131

− 54.93

Kimono

1.04

− 0.043

− 51.27

0.28

− 0.023

− 9.41

1.43

− 0.076

− 59.47

ParkScene

0.57

− 0.139

− 45.79

0.26

− 0.026

− 11.93

0.94

− 0.152

− 52.28

C

BasketballDrill

1.12

− 0.038

− 47.18

0.34

− 0.031

− 14.84

1.56

− 0.075

− 56.15

BQMall

0.67

− 0.047

− 50.06

0.30

− 0.028

− 11.43

1.17

− 0.089

− 58.34

PartyScene

0.94

− 0.052

− 38.22

0.28

− 0.027

− 16.54

1.22

− 0.081

− 45.57

RaceHorsesC

1.22

− 0.047

− 50.23

0.41

− 0.030

− 10.23

1.71

− 0.093

− 51.49

D

BasketballPass

0.63

− 0.083

− 44.37

0.39

− 0.021

− 11.07

1.23

− 0.128

− 49.41

BlowingBubbles

0.71

− 0.071

− 39.81

0.31

− 0.031

− 11.12

1.16

− 0.105

− 47.52

BQSquare

0.36

− 0.062

− 34.47

0.28

− 0.029

− 12.46

0.67

− 0.091

− 43.24

RaceHorses

0.54

− 0.042

− 36.37

0.25

− 0.035

− 9.07

0.89

− 0.074

− 42.65

E

FourPeople

0.95

− 0.034

− 46.26

0.29

− 0.034

− 11.75

1.35

− 0.087

− 54.19

Johnny

1.06

− 0.053

− 49.39

0.32

− 0.029

− 9.62

1.47

− 0.094

− 56.57

KristenAndSara

0.78

− 0.035

− 44.85

0.26

− 0.023

− 10.39

1.17

− 0.061

− 52.07

Average

0.84

− 0.062

− 44.71

0.31

− 0.029

− 12.63

1.26

− 0.093

− 53.29