Table 2.

Grid-based static environment 2 setting.

Point Type	Position (row, col)
$\mathrm{SP}$	(26, 6)
$\mathrm{GP}$	(5, 20)
$r_{MR}$	0.5
${\mathrm{Obs}}_1$	(3, 4)
${\mathrm{Obs}}_2$	(2, 10:15)
${\mathrm{Obs}}_3$	(5, 22)
${\mathrm{Obs}}_4$	(7, 17:18)
${\mathrm{Obs}}_5$	(9:10, 4:5)
${\mathrm{Obs}}_6$	(10:12, 10:12)
${\mathrm{Obs}}_7$	(12:19, 3)
${\mathrm{Obs}}_8$	(16, 16)
${\mathrm{Obs}}_9$	(20:27, 13)
${\mathrm{Obs}}_{10}$	(24, 15)
${\mathrm{Obs}}_{11}$	(20:22, 20:22)
${\mathrm{Obs}}_{12}$	(24, 6)
${\mathrm{Obs}}_{13}$	(27, 25)
${\mathrm{Obs}}_{14}$	(11:12, 18:26)