“…The performance validation of ExtIPA was concluded after a comparison with other meta-heuristic algorithms, including IPA, ABC, BA, ACO, BBO, DE, ES, FA, GA, PBIL, and PSO and some of their variants, such as BAM, MFA, SGA, and PGSO, in the fifth battlefield scenario. The path planners used for the test cases of the fifth battlefield were run 100 times by setting the population size to 30 and the maximum evaluation number to 6000 [21,57]. The mean best, best, and worst objective function values and related standard deviations of them calculated after 100 independent runs are given in Table 8.…”