Table 2

Theoretical complexity analysis

ComponentTime complexitySpace complexitySample complexityConvergence rate
Strategic PlanningO(n2d)O(nd)O(d log(1/ε))O(1/√T)
Tactical CoordinationO(n3d2)O(n2d)O(n2d/ε2)O(1/T)
Technical ExecutionO(nd3)O(d2)O(d22)O(1/T)
Opponent ModelingO(mn2d)O(mnd)O(mn/ε)O(1/√T)
Full SystemO(n3d3)O(n2d2)O(n2d22)O(1/√T)

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