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Ernest et al. Complex Eng Syst 2023;3:4 I http://dx.doi.org/10.20517/ces.2022.54 Page 7 of 22

Figure 3. Three standalone FISs for Marine Movement Control, Marine Firing Control, and Medivac Healing Control utilized within the
studied model. Normalized inputs in blue, FISs in red, and normalized outputs in green.

A relatively simple FIS structure can accommodate these considerations, with all but the Siege Tank control
defined as an output of a single FIS with minimal additional algorithmic work. In Figure 3 these individual
FIS nodes are displayed, each being 2-input Mamdani FISs [21] .

Specifically, the Marine Stutter Step Movement control will define a relative movement direction to threats
based upon both the marines current health, as well as its incoming damage rate from hostiles. The Marine
Firing control has a FIS which outputs a bid, from 0% to 100% to select a certain hostile target at every time
a shot is available. The potential hostile target with the highest bid is then selected for the marine to attack.
This bidding FIS takes in the normalized health of a potential target, as well as the relative quantity of already
assigned attacks against this target. The medivac Healing control utilizes a similar approach, considering each
friendly unit it can heal and selecting to heal the unit with its highest priority. This priority being determined
based upon the normalized health of each marine, and its relative incoming damage rate.

The control for the siege tank’s firing logic is more complex and therefore is made up of 3 FIS nodes, shown
in Figure 4. The approach utilized for this structure is to make our decisions considering how effective a shot
would be against a selected unit, as well as how safe that shot would be to nearby friendly units. Effectiveness
is determined by two main items; zerglings are low health units and the siege tank can easily waste some of
its damage potential by targeting a very damaged zergling. However, if the very damaged potential target is in
the middle of a group of hostiles, selecting that target may still be ideal due to the splash damage. Shot safety
is essentially the opposite, now considering splash damage a shot would do to any friendlies, combined with
the lowest health of the friendly units that would be affected by said splash damage. A differentiation between
the marines’ fire control is that the marines should always attack as often as they can in this engagement due
to the fact they only damage their hostile target. The fire control for the Siege Tank will select the hostile target
to fire at among all hostiles it considers, but only if that maximum fire bid is above 50%, otherwise it would
opt to not fire.