Independent decision

Cooperative decision

S

λ a η

λ a η

Q

Q 0 a ( C r + C d + C m ) 16 + λ 2 32 a η

Q 0 a ( C m + C d + C r + C 0 ) 2 + λ 2 4 a η

Pr

15 Q 0 + a ( C m + C d + C r ) 16 a + 31 λ 2 32 a 2 η

Q 0 + a ( C m + C d + C r + C 0 ) 2 a + 3 λ 2 4 a 2 η

π t

15 [ Q 0 a ( C r + C d + C m ) + λ 2 2 a η ] 2 256 a

[ Q 0 a ( C r + C d + C m ) + λ 2 2 a η a C 0 ] 2 4 a